fix: stability fix

config.json

@@ -1,7 +1,7 @@
 {
   "poll_interval_ms": 100,
   "max_streams": 20,
-  "target_fps": 2,
+  "target_fps": 4,
   "reconnect_interval_sec": 10,
   "max_retries": -1,
   "rtsp_buffer_size": 3,

core/tracking/tracker.py

@@ -31,40 +31,125 @@ class TrackedVehicle:
     last_position_history: List[Tuple[float, float]] = field(default_factory=list)
     avg_confidence: float = 0.0
 
-    def update_position(self, bbox: Tuple[int, int, int, int], confidence: float):
+    # Hybrid validation fields
+    track_id_changes: int = 0  # Number of times track ID changed for same position
+    position_stability_score: float = 0.0  # Independent position-based stability
+    continuous_stable_duration: float = 0.0  # Time continuously stable (ignoring track ID changes)
+    last_track_id_change: Optional[float] = None  # When track ID last changed
+    original_track_id: int = None  # First track ID seen at this position
+
+    def update_position(self, bbox: Tuple[int, int, int, int], confidence: float, new_track_id: Optional[int] = None):
         """Update vehicle position and confidence."""
         self.bbox = bbox
         self.center = ((bbox[0] + bbox[2]) / 2, (bbox[1] + bbox[3]) / 2)
-        self.last_seen = time.time()
+        current_time = time.time()
+        self.last_seen = current_time
         self.confidence = confidence
         self.total_frames += 1
 
+        # Track ID change detection
+        if new_track_id is not None and new_track_id != self.track_id:
+            self.track_id_changes += 1
+            self.last_track_id_change = current_time
+            logger.debug(f"Track ID changed from {self.track_id} to {new_track_id} for same vehicle")
+            self.track_id = new_track_id
+
+        # Set original track ID if not set
+        if self.original_track_id is None:
+            self.original_track_id = self.track_id
+
         # Update confidence average
         self.avg_confidence = ((self.avg_confidence * (self.total_frames - 1)) + confidence) / self.total_frames
 
-        # Maintain position history (last 10 positions)
+        # Maintain position history (last 15 positions for better stability analysis)
         self.last_position_history.append(self.center)
-        if len(self.last_position_history) > 10:
+        if len(self.last_position_history) > 15:
             self.last_position_history.pop(0)
 
-    def calculate_stability(self) -> float:
-        """Calculate stability score based on position history."""
-        if len(self.last_position_history) < 2:
-            return 0.0
+        # Update position-based stability
+        self._update_position_stability()
+
+    def _update_position_stability(self):
+        """Update position-based stability score independent of track ID."""
+        if len(self.last_position_history) < 5:
+            self.position_stability_score = 0.0
+            return
 
-        # Calculate movement variance
         positions = np.array(self.last_position_history)
-        if len(positions) < 2:
-            return 0.0
 
-        # Calculate standard deviation of positions
+        # Calculate position variance (lower = more stable)
         std_x = np.std(positions[:, 0])
         std_y = np.std(positions[:, 1])
 
-        # Lower variance means more stable (inverse relationship)
-        # Normalize to 0-1 range (assuming max reasonable std is 50 pixels)
-        stability = max(0, 1 - (std_x + std_y) / 100)
-        return stability
+        # Calculate movement velocity
+        if len(positions) >= 3:
+            recent_movement = np.mean([
+                np.sqrt((positions[i][0] - positions[i-1][0])**2 +
+                       (positions[i][1] - positions[i-1][1])**2)
+                for i in range(-3, 0)
+            ])
+        else:
+            recent_movement = 0
+
+        # Position-based stability (0-1 where 1 = perfectly stable)
+        max_reasonable_std = 150  # For HD resolution
+        variance_score = max(0, 1 - (std_x + std_y) / max_reasonable_std)
+        velocity_score = max(0, 1 - recent_movement / 20)  # 20 pixels max reasonable movement
+
+        self.position_stability_score = (variance_score * 0.7 + velocity_score * 0.3)
+
+        # Update continuous stable duration
+        if self.position_stability_score > 0.7:
+            if self.continuous_stable_duration == 0:
+                # Start tracking stable duration
+                self.continuous_stable_duration = 0.1  # Small initial value
+            else:
+                # Continue tracking
+                self.continuous_stable_duration = time.time() - self.first_seen
+        else:
+            # Reset if not stable
+            self.continuous_stable_duration = 0.0
+
+    def calculate_stability(self) -> float:
+        """Calculate stability score based on position history."""
+        return self.position_stability_score
+
+    def calculate_hybrid_stability(self) -> Tuple[float, str]:
+        """
+        Calculate hybrid stability considering both track ID continuity and position stability.
+
+        Returns:
+            Tuple of (stability_score, reasoning)
+        """
+        if len(self.last_position_history) < 5:
+            return 0.0, "Insufficient position history"
+
+        position_stable = self.position_stability_score > 0.7
+        has_stable_duration = self.continuous_stable_duration > 2.0  # 2+ seconds stable
+        recent_track_change = (self.last_track_id_change is not None and
+                             (time.time() - self.last_track_id_change) < 1.0)
+
+        # Base stability from position
+        base_score = self.position_stability_score
+
+        # Penalties and bonuses
+        if self.track_id_changes > 3:
+            # Too many track ID changes - likely tracking issues
+            base_score *= 0.8
+            reason = f"Multiple track ID changes ({self.track_id_changes})"
+        elif recent_track_change:
+            # Recent track change - be cautious
+            base_score *= 0.9
+            reason = "Recent track ID change"
+        else:
+            reason = "Position-based stability"
+
+        # Bonus for long continuous stability regardless of track ID changes
+        if has_stable_duration:
+            base_score = min(1.0, base_score + 0.1)
+            reason += f" + {self.continuous_stable_duration:.1f}s continuous"
+
+        return base_score, reason
 
     def is_expired(self, timeout_seconds: float = 2.0) -> bool:
         """Check if vehicle tracking has expired."""
@@ -90,14 +175,15 @@ class VehicleTracker:
 
         # Tracking state
         self.tracked_vehicles: Dict[int, TrackedVehicle] = {}
+        self.position_registry: Dict[str, TrackedVehicle] = {}  # Position-based vehicle registry
         self.next_track_id = 1
         self.lock = Lock()
 
         # Tracking parameters
-        self.stability_threshold = 0.7
-        self.min_stable_frames = 5
-        self.position_tolerance = 50  # pixels
-        self.timeout_seconds = 2.0
+        self.stability_threshold = 0.65  # Lowered for gas station scenarios
+        self.min_stable_frames = 8  # Increased for 4fps processing
+        self.position_tolerance = 80  # pixels - increased for gas station scenarios
+        self.timeout_seconds = 8.0  # Increased for gas station scenarios
 
         logger.info(f"VehicleTracker initialized with trigger_classes={self.trigger_classes}, "
                    f"min_confidence={self.min_confidence}")
@@ -127,6 +213,11 @@ class VehicleTracker:
                 if vehicle.is_expired(self.timeout_seconds)
             ]
             for track_id in expired_ids:
+                vehicle = self.tracked_vehicles[track_id]
+                # Remove from position registry too
+                position_key = self._get_position_key(vehicle.center)
+                if position_key in self.position_registry and self.position_registry[position_key] == vehicle:
+                    del self.position_registry[position_key]
                 logger.debug(f"Removing expired track {track_id}")
                 del self.tracked_vehicles[track_id]
 
@@ -142,56 +233,115 @@ class VehicleTracker:
                     if detection.class_name not in self.trigger_classes:
                         continue
 
-                    # Use track_id if available, otherwise generate one
-                    track_id = detection.track_id if detection.track_id is not None else self.next_track_id
-                    if detection.track_id is None:
-                        self.next_track_id += 1
-
-                    # Get bounding box from Detection object
+                    # Get bounding box and center from Detection object
                     x1, y1, x2, y2 = detection.bbox
                     bbox = (int(x1), int(y1), int(x2), int(y2))
-
-                    # Update or create tracked vehicle
+                    center = ((x1 + x2) / 2, (y1 + y2) / 2)
                     confidence = detection.confidence
-                    if track_id in self.tracked_vehicles:
-                        # Update existing track
-                        vehicle = self.tracked_vehicles[track_id]
-                        vehicle.update_position(bbox, confidence)
-                        vehicle.display_id = display_id
 
-                        # Check stability
-                        stability = vehicle.calculate_stability()
-                        if stability > self.stability_threshold:
-                            vehicle.stable_frames += 1
-                            if vehicle.stable_frames >= self.min_stable_frames:
-                                vehicle.is_stable = True
+                    # Hybrid approach: Try position-based association first, then track ID
+                    track_id = detection.track_id
+                    existing_vehicle = None
+                    position_key = self._get_position_key(center)
+
+                    # 1. Check position registry first (same physical location)
+                    if position_key in self.position_registry:
+                        existing_vehicle = self.position_registry[position_key]
+                        if track_id is not None and track_id != existing_vehicle.track_id:
+                            # Track ID changed for same position - update vehicle
+                            existing_vehicle.update_position(bbox, confidence, track_id)
+                            logger.debug(f"Track ID changed {existing_vehicle.track_id}->{track_id} at same position")
+                            # Update tracking dict
+                            if existing_vehicle.track_id in self.tracked_vehicles:
+                                del self.tracked_vehicles[existing_vehicle.track_id]
+                            self.tracked_vehicles[track_id] = existing_vehicle
                         else:
-                            vehicle.stable_frames = max(0, vehicle.stable_frames - 1)
-                            if vehicle.stable_frames < self.min_stable_frames:
-                                vehicle.is_stable = False
+                            # Same position, same/no track ID
+                            existing_vehicle.update_position(bbox, confidence)
+                        track_id = existing_vehicle.track_id
 
-                        logger.debug(f"Updated track {track_id}: conf={confidence:.2f}, "
-                                   f"stable={vehicle.is_stable}, stability={stability:.2f}")
-                    else:
-                        # Create new track
-                        vehicle = TrackedVehicle(
+                    # 2. If no position match, try track ID approach
+                    elif track_id is not None and track_id in self.tracked_vehicles:
+                        # Existing track ID, check if position moved significantly
+                        existing_vehicle = self.tracked_vehicles[track_id]
+                        old_position_key = self._get_position_key(existing_vehicle.center)
+
+                        # If position moved significantly, update position registry
+                        if old_position_key != position_key:
+                            if old_position_key in self.position_registry:
+                                del self.position_registry[old_position_key]
+                            self.position_registry[position_key] = existing_vehicle
+
+                        existing_vehicle.update_position(bbox, confidence)
+
+                    # 3. Try closest track association (fallback)
+                    elif track_id is None:
+                        closest_track = self._find_closest_track(center)
+                        if closest_track:
+                            existing_vehicle = closest_track
+                            track_id = closest_track.track_id
+                            existing_vehicle.update_position(bbox, confidence)
+                            # Update position registry
+                            self.position_registry[position_key] = existing_vehicle
+                            logger.debug(f"Associated detection with existing track {track_id} based on proximity")
+
+                    # 4. Create new vehicle if no associations found
+                    if existing_vehicle is None:
+                        track_id = track_id if track_id is not None else self.next_track_id
+                        if track_id == self.next_track_id:
+                            self.next_track_id += 1
+
+                        existing_vehicle = TrackedVehicle(
                             track_id=track_id,
                             first_seen=current_time,
                             last_seen=current_time,
                             display_id=display_id,
                             confidence=confidence,
                             bbox=bbox,
-                            center=((x1 + x2) / 2, (y1 + y2) / 2),
-                            total_frames=1
+                            center=center,
+                            total_frames=1,
+                            original_track_id=track_id
                         )
-                        vehicle.last_position_history.append(vehicle.center)
-                        self.tracked_vehicles[track_id] = vehicle
+                        existing_vehicle.last_position_history.append(center)
+                        self.tracked_vehicles[track_id] = existing_vehicle
+                        self.position_registry[position_key] = existing_vehicle
                         logger.info(f"New vehicle tracked: ID={track_id}, display={display_id}")
 
-                    active_tracks.append(self.tracked_vehicles[track_id])
+                    # Check stability using hybrid approach
+                    stability_score, reason = existing_vehicle.calculate_hybrid_stability()
+                    if stability_score > self.stability_threshold:
+                        existing_vehicle.stable_frames += 1
+                        if existing_vehicle.stable_frames >= self.min_stable_frames:
+                            existing_vehicle.is_stable = True
+                    else:
+                        existing_vehicle.stable_frames = max(0, existing_vehicle.stable_frames - 1)
+                        if existing_vehicle.stable_frames < self.min_stable_frames:
+                            existing_vehicle.is_stable = False
+
+                    logger.debug(f"Updated track {track_id}: conf={confidence:.2f}, "
+                               f"stable={existing_vehicle.is_stable}, hybrid_stability={stability_score:.2f} ({reason})")
+
+                    active_tracks.append(existing_vehicle)
 
         return active_tracks
 
+    def _get_position_key(self, center: Tuple[float, float]) -> str:
+        """
+        Generate a position-based key for vehicle registry.
+        Groups nearby positions into the same key for association.
+
+        Args:
+            center: Center position (x, y)
+
+        Returns:
+            Position key string
+        """
+        # Grid-based quantization - 60 pixel grid for gas station scenarios
+        grid_size = 60
+        grid_x = int(center[0] // grid_size)
+        grid_y = int(center[1] // grid_size)
+        return f"{grid_x}_{grid_y}"
+
     def _find_closest_track(self, center: Tuple[float, float]) -> Optional[TrackedVehicle]:
         """
         Find the closest existing track to a given position.
@@ -206,7 +356,7 @@ class VehicleTracker:
         closest_track = None
 
         for vehicle in self.tracked_vehicles.values():
-            if vehicle.is_expired(0.5):  # Shorter timeout for matching
+            if vehicle.is_expired(1.0):  # Allow slightly older tracks for matching
                 continue
 
             distance = np.sqrt(
@@ -287,6 +437,7 @@ class VehicleTracker:
         """Reset all tracking state."""
         with self.lock:
             self.tracked_vehicles.clear()
+            self.position_registry.clear()
             self.next_track_id = 1
             logger.info("Vehicle tracking state reset")
 

core/tracking/validator.py

@@ -51,8 +51,8 @@ class StableCarValidator:
 
         # Validation thresholds
         self.min_stable_duration = self.config.get('min_stable_duration', 3.0)  # seconds
-        self.min_stable_frames = self.config.get('min_stable_frames', 10)
-        self.position_variance_threshold = self.config.get('position_variance_threshold', 25.0)  # pixels
+        self.min_stable_frames = self.config.get('min_stable_frames', 8)
+        self.position_variance_threshold = self.config.get('position_variance_threshold', 40.0)  # pixels - adjusted for HD
         self.min_confidence = self.config.get('min_confidence', 0.7)
         self.velocity_threshold = self.config.get('velocity_threshold', 5.0)  # pixels/frame
         self.entering_zone_ratio = self.config.get('entering_zone_ratio', 0.3)  # 30% of frame
@@ -188,9 +188,9 @@ class StableCarValidator:
         x_position = vehicle.center[0] / self.frame_width
         y_position = vehicle.center[1] / self.frame_height
 
-        # Check if vehicle is stable
-        stability = vehicle.calculate_stability()
-        if stability > 0.7 and velocity < self.velocity_threshold:
+        # Check if vehicle is stable using hybrid approach
+        stability_score, stability_reason = vehicle.calculate_hybrid_stability()
+        if stability_score > 0.65 and velocity < self.velocity_threshold:
             # Check if it's been stable long enough
             duration = time.time() - vehicle.first_seen
             if duration > self.min_stable_duration and vehicle.stable_frames >= self.min_stable_frames:
@@ -294,11 +294,15 @@ class StableCarValidator:
         # All checks passed - vehicle is valid for processing
         self.last_processed_vehicles[vehicle.track_id] = time.time()
 
+        # Get hybrid stability info for detailed reasoning
+        hybrid_stability, hybrid_reason = vehicle.calculate_hybrid_stability()
+        processing_reason = f"Vehicle is stable and ready for processing (hybrid: {hybrid_reason})"
+
         return ValidationResult(
             is_valid=True,
             state=VehicleState.STABLE,
             confidence=vehicle.avg_confidence,
-            reason="Vehicle is stable and ready for processing",
+            reason=processing_reason,
             should_process=True,
             track_id=vehicle.track_id
         )