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

benchmark_motion.py

@@ -0,0 +1,103 @@
+import datetime
+import multiprocessing as mp
+import os
+from statistics import mean
+
+import cv2
+import numpy as np
+
+from frigate.config import MotionConfig
+from frigate.motion.frigate_motion import FrigateMotionDetector
+from frigate.motion.improved_motion import ImprovedMotionDetector
+
+# get info on the video
+# cap = cv2.VideoCapture("debug/front_cam_2023_05_23_08_41__2023_05_23_08_43.mp4")
+# cap = cv2.VideoCapture("debug/motion_test_clips/rain_1.mp4")
+cap = cv2.VideoCapture("debug/motion_test_clips/ir_off.mp4")
+# cap = cv2.VideoCapture("airport.mp4")
+width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+fps = cap.get(cv2.CAP_PROP_FPS)
+frame_shape = (height, width, 3)
+
+# create the motion config
+motion_config = MotionConfig()
+motion_config.mask = np.zeros((height, width), np.uint8)
+motion_config.mask[:] = 255
+motion_config.improve_contrast = 1
+motion_config.frame_alpha = 0.02
+motion_config.threshold = 40
+motion_config.contour_area = 15
+save_images = True
+
+# create motion detectors
+frigate_motion_detector = FrigateMotionDetector(
+    frame_shape=frame_shape,
+    config=motion_config,
+    fps=fps,
+    improve_contrast=mp.Value("i", motion_config.improve_contrast),
+    threshold=mp.Value("i", motion_config.threshold),
+    contour_area=mp.Value("i", motion_config.contour_area),
+)
+frigate_motion_detector.save_images = save_images
+
+improved_motion_detector = ImprovedMotionDetector(
+    frame_shape=frame_shape,
+    config=motion_config,
+    fps=fps,
+    improve_contrast=mp.Value("i", motion_config.improve_contrast),
+    threshold=mp.Value("i", motion_config.threshold),
+    contour_area=mp.Value("i", motion_config.contour_area),
+)
+improved_motion_detector.save_images = save_images
+
+# read and process frames
+frame_times = {"frigate": [], "improved": []}
+ret, frame = cap.read()
+frame_counter = 1
+while ret:
+    yuv_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)
+
+    start_frame = datetime.datetime.now().timestamp()
+    frigate_motion_detector.detect(yuv_frame)
+    frame_times["frigate"].append(datetime.datetime.now().timestamp() - start_frame)
+
+    start_frame = datetime.datetime.now().timestamp()
+    improved_motion_detector.detect(yuv_frame)
+    frame_times["improved"].append(datetime.datetime.now().timestamp() - start_frame)
+
+    frigate_frame = f"debug/frames/frigate-{frame_counter}.jpg"
+    improved_frame = f"debug/frames/improved-{frame_counter}.jpg"
+    if os.path.exists(frigate_frame) and os.path.exists(improved_frame):
+        image_row_1 = cv2.hconcat(
+            [
+                cv2.imread(frigate_frame),
+                cv2.imread(improved_frame),
+            ]
+        )
+
+        image_row_2 = cv2.resize(
+            frame,
+            dsize=(
+                frigate_motion_detector.motion_frame_size[1] * 2,
+                frigate_motion_detector.motion_frame_size[0] * 2,
+            ),
+            interpolation=cv2.INTER_LINEAR,
+        )
+
+        cv2.imwrite(
+            f"debug/frames/all-{frame_counter}.jpg",
+            cv2.vconcat([image_row_1, image_row_2]),
+        )
+        os.unlink(frigate_frame)
+        os.unlink(improved_frame)
+    frame_counter += 1
+
+    ret, frame = cap.read()
+
+cap.release()
+
+print("Frigate Motion Detector")
+print(f"Average frame processing time: {mean(frame_times['frigate'])*1000:.2f}ms")
+print("Improved Motion Detector")
+print(f"Average frame processing time: {mean(frame_times['improved'])*1000:.2f}ms")