Improve motion detection and region selection (#6741)

* refactor existing motion detector

* implement and use cnt bgsub

* pass fps to motion detector

* create a simplified motion detector

* lightning detection

* update default motion config

* lint imports

* use estimated boxes for regions

* use improved motion detector

* update test

* use a different strategy for clustering motion and object boxes

* increase alpha during calibration

* simplify object consolidation

* add some reasonable constraints to the estimated box

* adjust cluster boundary to 10%

* refactor

* add disabled debug code

* fix variable scope

frigate/track/norfair_tracker.py

@@ -231,16 +231,32 @@ class NorfairTracker(ObjectTracker):
         # update or create new tracks
         active_ids = []
         for t in tracked_objects:
+            estimate = tuple(t.estimate.flatten().astype(int))
+            # keep the estimate within the bounds of the image
+            estimate = (
+                max(0, estimate[0]),
+                max(0, estimate[1]),
+                min(self.detect_config.width - 1, estimate[2]),
+                min(self.detect_config.height - 1, estimate[3]),
+            )
+            obj = {
+                **t.last_detection.data,
+                "estimate": estimate,
+            }
             active_ids.append(t.global_id)
             if t.global_id not in self.track_id_map:
-                self.register(t.global_id, t.last_detection.data)
+                self.register(t.global_id, obj)
             # if there wasn't a detection in this frame, increment disappeared
             elif t.last_detection.data["frame_time"] != frame_time:
                 id = self.track_id_map[t.global_id]
                 self.disappeared[id] += 1
+                # sometimes the estimate gets way off
+                # only update if the upper left corner is actually upper left
+                if estimate[0] < estimate[2] and estimate[1] < estimate[3]:
+                    self.tracked_objects[id]["estimate"] = obj["estimate"]
             # else update it
             else:
-                self.update(t.global_id, t.last_detection.data)
+                self.update(t.global_id, obj)
 
         # clear expired tracks
         expired_ids = [k for k in self.track_id_map.keys() if k not in active_ids]