matrice-analytics 0.1.60__py3-none-any.whl

matrice_analytics/post_processing/usecases/drone_traffic_monitoring.py

@@ -0,0 +1,585 @@
+from typing import Any, Dict, List, Optional
+from dataclasses import asdict
+import time
+from datetime import datetime, timezone
+
+from ..core.base import BaseProcessor, ProcessingContext, ProcessingResult, ConfigProtocol, ResultFormat
+from ..utils import (
+    filter_by_confidence,
+    filter_by_categories,
+    apply_category_mapping,
+    count_objects_by_category,
+    count_objects_in_zones,
+    calculate_counting_summary,
+    match_results_structure,
+    bbox_smoothing,
+    BBoxSmoothingConfig,
+    BBoxSmoothingTracker
+)
+from dataclasses import dataclass, field
+from ..core.config import BaseConfig, AlertConfig, ZoneConfig
+
+@dataclass
+class VehiclePeopleDroneMonitoringConfig(BaseConfig):
+    """Configuration for vehicle detection use case in vehicle monitoring."""
+    enable_smoothing: bool = True
+    smoothing_algorithm: str = "observability"
+    smoothing_window_size: int = 20
+    smoothing_cooldown_frames: int = 5
+    smoothing_confidence_range_factor: float = 0.5
+    confidence_threshold: float = 0.6
+    usecase_categories: List[str] = field(
+        default_factory=lambda: [
+            "pedestrian", "people", "bicycle", "car", "van", "truck", "tricycle", "awning-tricycle", "bus", "motor"
+        ]
+    )
+    target_categories: List[str] = field(
+        default_factory=lambda: [
+            "pedestrian", "people", "bicycle", "car", "van", "truck", "tricycle", "awning-tricycle", "bus", "motor"]
+    )
+    alert_config: Optional[AlertConfig] = None
+    index_to_category: Optional[Dict[int, str]] = field(
+        default_factory=lambda: {
+                0: "pedestrian", 1: "people", 2: "bicycle", 3: "car", 4: "van", 5: "truck",
+                6: "tricycle", 7: "awning-tricycle", 8: "bus", 9: "motor"
+            }
+    )
+
+class DroneTrafficMonitoringUsecase(BaseProcessor):
+    CATEGORY_DISPLAY = {
+        "pedestrian": "Pedestrian",
+        "people": "People",
+        "bicycle": "Bicycle",
+        "car": "Car",
+        "van": "Van",
+        "truck": "Truck",
+        "tricycle": "Tricycle",
+        "awning-tricycle": "Awning-Tricycle",
+        "bus": "Bus",
+        "motor": "Motorcycle"
+    }
+
+    def __init__(self):
+        super().__init__("drone_traffic_monitoring")
+        self.category = "traffic"
+        self.CASE_TYPE: Optional[str] = 'drone_traffic_monitoring'
+        self.CASE_VERSION: Optional[str] = '1.0'
+        self.target_categories = ["pedestrian", "people", "bicycle", "car", "van", "truck", "tricycle", "awning-tricycle", "bus", "motor"]
+        self.smoothing_tracker = None
+        self.tracker = None
+        self._total_frame_counter = 0
+        self._global_frame_offset = 0
+        self._tracking_start_time = None
+        self._track_aliases: Dict[Any, Any] = {}
+        self._canonical_tracks: Dict[Any, Dict[str, Any]] = {}
+        self._track_merge_iou_threshold: float = 0.05
+        self._track_merge_time_window: float = 7.0
+        self._ascending_alert_list: List[int] = []
+        self.current_incident_end_timestamp: str = "N/A"
+
+    def process(self, data: Any, config: ConfigProtocol, context: Optional[ProcessingContext] = None,
+                stream_info: Optional[Dict[str, Any]] = None) -> ProcessingResult:
+        start_time = time.time()
+        if not isinstance(config, VehiclePeopleDroneMonitoringConfig):
+            return self.create_error_result("Invalid config type", usecase=self.name, category=self.category, context=context)
+        if context is None:
+            context = ProcessingContext()
+        input_format = match_results_structure(data)
+        context.input_format = input_format
+        context.confidence_threshold = config.confidence_threshold
+        if config.confidence_threshold is not None:
+            processed_data = filter_by_confidence(data, config.confidence_threshold)
+            self.logger.debug(f"Applied confidence filtering with threshold {config.confidence_threshold}")
+        else:
+            processed_data = data
+            self.logger.debug("Did not apply confidence filtering since no threshold provided")
+        if config.index_to_category:
+            processed_data = apply_category_mapping(processed_data, config.index_to_category)
+            self.logger.debug("Applied category mapping")
+        if config.target_categories:
+            processed_data = [d for d in processed_data if d.get('category') in self.target_categories]
+            self.logger.debug("Applied category filtering")
+        if config.enable_smoothing:
+            if self.smoothing_tracker is None:
+                smoothing_config = BBoxSmoothingConfig(
+                    smoothing_algorithm=config.smoothing_algorithm,
+                    window_size=config.smoothing_window_size,
+                    cooldown_frames=config.smoothing_cooldown_frames,
+                    confidence_threshold=config.confidence_threshold,
+                    confidence_range_factor=config.smoothing_confidence_range_factor,
+                    enable_smoothing=True
+                )
+                self.smoothing_tracker = BBoxSmoothingTracker(smoothing_config)
+            processed_data = bbox_smoothing(processed_data, self.smoothing_tracker.config, self.smoothing_tracker)
+        try:
+            from ..advanced_tracker import AdvancedTracker
+            from ..advanced_tracker.config import TrackerConfig
+            if self.tracker is None:
+                tracker_config = TrackerConfig()
+                self.tracker = AdvancedTracker(tracker_config)
+                self.logger.info("Initialized AdvancedTracker for Vehicle Monitoring")
+            processed_data = self.tracker.update(processed_data)
+        except Exception as e:
+            self.logger.warning(f"AdvancedTracker failed: {e}")
+        self._update_tracking_state(processed_data)
+        self._total_frame_counter += 1
+        frame_number = None
+        if stream_info:
+            input_settings = stream_info.get("input_settings", {})
+            start_frame = input_settings.get("start_frame")
+            end_frame = input_settings.get("end_frame")
+            if start_frame is not None and end_frame is not None and start_frame == end_frame:
+                frame_number = start_frame
+        general_counting_summary = calculate_counting_summary(data)
+        counting_summary = self._count_categories(processed_data, config)
+        total_counts = self.get_total_counts()
+        counting_summary['total_counts'] = total_counts
+        alerts = self._check_alerts(counting_summary, frame_number, config)
+        predictions = self._extract_predictions(processed_data)
+        incidents_list = self._generate_incidents(counting_summary, alerts, config, frame_number, stream_info)
+        tracking_stats_list = self._generate_tracking_stats(counting_summary, alerts, config, frame_number, stream_info)
+        business_analytics_list = self._generate_business_analytics(counting_summary, alerts, config, stream_info, is_empty=True)
+        summary_list = self._generate_summary(counting_summary, incidents_list, tracking_stats_list, business_analytics_list, alerts)
+        incidents = incidents_list[0] if incidents_list else {}
+        tracking_stats = tracking_stats_list[0] if tracking_stats_list else {}
+        business_analytics = business_analytics_list[0] if business_analytics_list else {}
+        summary = summary_list[0] if summary_list else {}
+        agg_summary = {str(frame_number): {
+            "incidents": incidents,
+            "tracking_stats": tracking_stats,
+            "business_analytics": business_analytics,
+            "alerts": alerts,
+            "human_text": summary}
+        }
+        context.mark_completed()
+        result = self.create_result(
+            data={"agg_summary": agg_summary},
+            usecase=self.name,
+            category=self.category,
+            context=context
+        )
+        return result
+
+    def _check_alerts(self, summary: dict, frame_number: Any, config: VehiclePeopleDroneMonitoringConfig) -> List[Dict]:
+        def get_trend(data, lookback=900, threshold=0.6):
+            window = data[-lookback:] if len(data) >= lookback else data
+            if len(window) < 2:
+                return True
+            increasing = 0
+            total = 0
+            for i in range(1, len(window)):
+                if window[i] >= window[i - 1]:
+                    increasing += 1
+                total += 1
+            ratio = increasing / total
+            return ratio >= threshold
+        frame_key = str(frame_number) if frame_number is not None else "current_frame"
+        alerts = []
+        total_detections = summary.get("total_count", 0)
+        total_counts_dict = summary.get("total_counts", {})
+        per_category_count = summary.get("per_category_count", {})
+        if not config.alert_config:
+            return alerts
+        if hasattr(config.alert_config, 'count_thresholds') and config.alert_config.count_thresholds:
+            for category, threshold in config.alert_config.count_thresholds.items():
+                if category == "all" and total_detections > threshold:
+                    alerts.append({
+                        "alert_type": getattr(config.alert_config, 'alert_type', ['Default']),
+                        "alert_id": f"alert_{category}_{frame_key}",
+                        "incident_category": self.CASE_TYPE,
+                        "threshold_level": threshold,
+                        "ascending": get_trend(self._ascending_alert_list, lookback=900, threshold=0.8),
+                        "settings": {t: v for t, v in zip(getattr(config.alert_config, 'alert_type', ['Default']),
+                                                         getattr(config.alert_config, 'alert_value', ['JSON']))}
+                    })
+                elif category in per_category_count and per_category_count[category] > threshold:
+                    alerts.append({
+                        "alert_type": getattr(config.alert_config, 'alert_type', ['Default']),
+                        "alert_id": f"alert_{category}_{frame_key}",
+                        "incident_category": self.CASE_TYPE,
+                        "threshold_level": threshold,
+                        "ascending": get_trend(self._ascending_alert_list, lookback=900, threshold=0.8),
+                        "settings": {t: v for t, v in zip(getattr(config.alert_config, 'alert_type', ['Default']),
+                                                         getattr(config.alert_config, 'alert_value', ['JSON']))}
+                    })
+        return alerts
+
+    def _generate_incidents(self, counting_summary: Dict, alerts: List, config: VehiclePeopleDroneMonitoringConfig,
+                           frame_number: Optional[int] = None, stream_info: Optional[Dict[str, Any]] = None) -> List[Dict]:
+        incidents = []
+        total_detections = counting_summary.get("total_count", 0)
+        current_timestamp = self._get_current_timestamp_str(stream_info)
+        camera_info = self.get_camera_info_from_stream(stream_info)
+        self._ascending_alert_list = self._ascending_alert_list[-900:] if len(self._ascending_alert_list) > 900 else self._ascending_alert_list
+        if total_detections > 0:
+            level = "low"
+            intensity = 5.0
+            start_timestamp = self._get_start_timestamp_str(stream_info)
+            if start_timestamp and self.current_incident_end_timestamp == 'N/A':
+                self.current_incident_end_timestamp = 'Incident still active'
+            elif start_timestamp and self.current_incident_end_timestamp == 'Incident still active':
+                if len(self._ascending_alert_list) >= 15 and sum(self._ascending_alert_list[-15:]) / 15 < 1.5:
+                    self.current_incident_end_timestamp = current_timestamp
+            elif self.current_incident_end_timestamp != 'Incident still active' and self.current_incident_end_timestamp != 'N/A':
+                self.current_incident_end_timestamp = 'N/A'
+            if config.alert_config and config.alert_config.count_thresholds:
+                threshold = config.alert_config.count_thresholds.get("all", 15)
+                intensity = min(10.0, (total_detections / threshold) * 10)
+                if intensity >= 9:
+                    level = "critical"
+                    self._ascending_alert_list.append(3)
+                elif intensity >= 7:
+                    level = "significant"
+                    self._ascending_alert_list.append(2)
+                elif intensity >= 5:
+                    level = "medium"
+                    self._ascending_alert_list.append(1)
+                else:
+                    level = "low"
+                    self._ascending_alert_list.append(0)
+            else:
+                if total_detections > 30:
+                    level = "critical"
+                    intensity = 10.0
+                    self._ascending_alert_list.append(3)
+                elif total_detections > 25:
+                    level = "significant"
+                    intensity = 9.0
+                    self._ascending_alert_list.append(2)
+                elif total_detections > 15:
+                    level = "medium"
+                    intensity = 7.0
+                    self._ascending_alert_list.append(1)
+                else:
+                    level = "low"
+                    intensity = min(10.0, total_detections / 3.0)
+                    self._ascending_alert_list.append(0)
+            human_text_lines = [f"VEHICLE INCIDENTS DETECTED @ {current_timestamp}:"]
+            human_text_lines.append(f"\tSeverity Level: {(self.CASE_TYPE, level)}")
+            human_text = "\n".join(human_text_lines)
+            alert_settings = []
+            if config.alert_config and hasattr(config.alert_config, 'alert_type'):
+                alert_settings.append({
+                    "alert_type": getattr(config.alert_config, 'alert_type', ['Default']),
+                    "incident_category": self.CASE_TYPE,
+                    "threshold_level": config.alert_config.count_thresholds if hasattr(config.alert_config, 'count_thresholds') else {},
+                    "ascending": True,
+                    "settings": {t: v for t, v in zip(getattr(config.alert_config, 'alert_type', ['Default']),
+                                                     getattr(config.alert_config, 'alert_value', ['JSON']))}
+                })
+            event = self.create_incident(
+                incident_id=f"{self.CASE_TYPE}_{frame_number}",
+                incident_type=self.CASE_TYPE,
+                severity_level=level,
+                human_text=human_text,
+                camera_info=camera_info,
+                alerts=alerts,
+                alert_settings=alert_settings,
+                start_time=start_timestamp,
+                end_time=self.current_incident_end_timestamp,
+                level_settings={"low": 1, "medium": 3, "significant": 4, "critical": 7}
+            )
+            incidents.append(event)
+        else:
+            self._ascending_alert_list.append(0)
+            incidents.append({})
+        return incidents
+
+    def _generate_tracking_stats(self, counting_summary: Dict, alerts: List, config: VehiclePeopleDroneMonitoringConfig,
+                                frame_number: Optional[int] = None, stream_info: Optional[Dict[str, Any]] = None) -> List[Dict]:
+        camera_info = self.get_camera_info_from_stream(stream_info)
+        tracking_stats = []
+        total_detections = counting_summary.get("total_count", 0)
+        total_counts_dict = counting_summary.get("total_counts", {})
+        per_category_count = counting_summary.get("per_category_count", {})
+        current_timestamp = self._get_current_timestamp_str(stream_info, precision=False)
+        start_timestamp = self._get_start_timestamp_str(stream_info, precision=False)
+        high_precision_start_timestamp = self._get_current_timestamp_str(stream_info, precision=True)
+        high_precision_reset_timestamp = self._get_start_timestamp_str(stream_info, precision=True)
+        total_counts = [{"category": cat, "count": count} for cat, count in total_counts_dict.items() if count > 0]
+        current_counts = [{"category": cat, "count": count} for cat, count in per_category_count.items() if count > 0 or total_detections > 0]
+        detections = []
+        for detection in counting_summary.get("detections", []):
+            bbox = detection.get("bounding_box", {})
+            category = detection.get("category", "vehicle")
+            if detection.get("masks"):
+                segmentation = detection.get("masks", [])
+                detection_obj = self.create_detection_object(category, bbox, segmentation=segmentation)
+            elif detection.get("segmentation"):
+                segmentation = detection.get("segmentation")
+                detection_obj = self.create_detection_object(category, bbox, segmentation=segmentation)
+            elif detection.get("mask"):
+                segmentation = detection.get("mask")
+                detection_obj = self.create_detection_object(category, bbox, segmentation=segmentation)
+            else:
+                detection_obj = self.create_detection_object(category, bbox)
+            detections.append(detection_obj)
+        alert_settings = []
+        if config.alert_config and hasattr(config.alert_config, 'alert_type'):
+            alert_settings.append({
+                "alert_type": getattr(config.alert_config, 'alert_type', ['Default']),
+                "incident_category": self.CASE_TYPE,
+                "threshold_level": config.alert_config.count_thresholds if hasattr(config.alert_config, 'count_thresholds') else {},
+                "ascending": True,
+                "settings": {t: v for t, v in zip(getattr(config.alert_config, 'alert_type', ['Default']),
+                                                 getattr(config.alert_config, 'alert_value', ['JSON']))}
+            })
+        human_text_lines = [f"Tracking Statistics:"]
+        human_text_lines.append(f"CURRENT FRAME @ {current_timestamp}")
+        for cat, count in per_category_count.items():
+            human_text_lines.append(f"\t{cat}: {count}")
+        human_text_lines.append(f"TOTAL SINCE {start_timestamp}")
+        for cat, count in total_counts_dict.items():
+            if count > 0:
+                human_text_lines.append(f"\t{cat}: {count}")
+        if alerts:
+            for alert in alerts:
+                human_text_lines.append(f"Alerts: {alert.get('settings', {})} sent @ {current_timestamp}")
+        else:
+            human_text_lines.append("Alerts: None")
+        human_text = "\n".join(human_text_lines)
+        reset_settings = [{"interval_type": "daily", "reset_time": {"value": 9, "time_unit": "hour"}}]
+        tracking_stat = self.create_tracking_stats(
+            total_counts=total_counts,
+            current_counts=current_counts,
+            detections=detections,
+            human_text=human_text,
+            camera_info=camera_info,
+            alerts=alerts,
+            alert_settings=alert_settings,
+            reset_settings=reset_settings,
+            start_time=high_precision_start_timestamp,
+            reset_time=high_precision_reset_timestamp
+        )
+        tracking_stats.append(tracking_stat)
+        return tracking_stats
+
+    def _generate_business_analytics(self, counting_summary: Dict, alerts: Any, config: VehiclePeopleDroneMonitoringConfig,
+                                    stream_info: Optional[Dict[str, Any]] = None, is_empty=False) -> List[Dict]:
+        if is_empty:
+            return []
+
+    def _generate_summary(self, summary: dict, incidents: List, tracking_stats: List, business_analytics: List, alerts: List) -> List[str]:
+        lines = {}
+        lines["Application Name"] = self.CASE_TYPE
+        lines["Application Version"] = self.CASE_VERSION
+        if len(incidents) > 0:
+            lines["Incidents:"] = f"\n\t{incidents[0].get('human_text', 'No incidents detected')}\n"
+        if len(tracking_stats) > 0:
+            lines["Tracking Statistics:"] = f"\t{tracking_stats[0].get('human_text', 'No tracking statistics detected')}\n"
+        if len(business_analytics) > 0:
+            lines["Business Analytics:"] = f"\t{business_analytics[0].get('human_text', 'No business analytics detected')}\n"
+        if len(incidents) == 0 and len(tracking_stats) == 0 and len(business_analytics) == 0:
+            lines["Summary"] = "No Summary Data"
+        return [lines]
+
+    def _get_track_ids_info(self, detections: list) -> Dict[str, Any]:
+        frame_track_ids = set()
+        for det in detections:
+            tid = det.get('track_id')
+            if tid is not None:
+                frame_track_ids.add(tid)
+        total_track_ids = set()
+        for s in getattr(self, '_per_category_total_track_ids', {}).values():
+            total_track_ids.update(s)
+        return {
+            "total_count": len(total_track_ids),
+            "current_frame_count": len(frame_track_ids),
+            "total_unique_track_ids": len(total_track_ids),
+            "current_frame_track_ids": list(frame_track_ids),
+            "last_update_time": time.time(),
+            "total_frames_processed": getattr(self, '_total_frame_counter', 0)
+        }
+
+    def _update_tracking_state(self, detections: list):
+        if not hasattr(self, "_per_category_total_track_ids"):
+            self._per_category_total_track_ids = {cat: set() for cat in self.target_categories}
+        self._current_frame_track_ids = {cat: set() for cat in self.target_categories}
+        for det in detections:
+            cat = det.get("category")
+            raw_track_id = det.get("track_id")
+            if cat not in self.target_categories or raw_track_id is None:
+                continue
+            bbox = det.get("bounding_box", det.get("bbox"))
+            canonical_id = self._merge_or_register_track(raw_track_id, bbox)
+            det["track_id"] = canonical_id
+            self._per_category_total_track_ids.setdefault(cat, set()).add(canonical_id)
+            self._current_frame_track_ids[cat].add(canonical_id)
+
+    def get_total_counts(self):
+        return {cat: len(ids) for cat, ids in getattr(self, '_per_category_total_track_ids', {}).items()}
+
+    def _format_timestamp_for_stream(self, timestamp: float) -> str:
+        dt = datetime.fromtimestamp(timestamp, tz=timezone.utc)
+        return dt.strftime('%Y:%m:%d %H:%M:%S')
+
+    def _format_timestamp_for_video(self, timestamp: float) -> str:
+        hours = int(timestamp // 3600)
+        minutes = int((timestamp % 3600) // 60)
+        seconds = round(float(timestamp % 60), 2)
+        return f"{hours:02d}:{minutes:02d}:{seconds:.1f}"
+
+    def _get_current_timestamp_str(self, stream_info: Optional[Dict[str, Any]], precision=False, frame_id: Optional[str]=None) -> str:
+        if not stream_info:
+            return "00:00:00.00"
+        if precision:
+            if stream_info.get("input_settings", {}).get("start_frame", "na") != "na":
+                if frame_id:
+                    start_time = int(frame_id)/stream_info.get("input_settings", {}).get("original_fps", 30)
+                else:
+                    start_time = stream_info.get("input_settings", {}).get("start_frame", 30)/stream_info.get("input_settings", {}).get("original_fps", 30)
+                return self._format_timestamp_for_video(start_time)
+            else:
+                return datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+        if stream_info.get("input_settings", {}).get("start_frame", "na") != "na":
+            if frame_id:
+                start_time = int(frame_id)/stream_info.get("input_settings", {}).get("original_fps", 30)
+            else:
+                start_time = stream_info.get("input_settings", {}).get("start_frame", 30)/stream_info.get("input_settings", {}).get("original_fps", 30)
+            return self._format_timestamp_for_video(start_time)
+        else:
+            stream_time_str = stream_info.get("input_settings", {}).get("stream_info", {}).get("stream_time", "")
+            if stream_time_str:
+                try:
+                    timestamp_str = stream_time_str.replace(" UTC", "")
+                    dt = datetime.strptime(timestamp_str, "%Y-%m-%d-%H:%M:%S.%f")
+                    timestamp = dt.replace(tzinfo=timezone.utc).timestamp()
+                    return self._format_timestamp_for_stream(timestamp)
+                except:
+                    return self._format_timestamp_for_stream(time.time())
+            else:
+                return self._format_timestamp_for_stream(time.time())
+
+    def _get_start_timestamp_str(self, stream_info: Optional[Dict[str, Any]], precision=False) -> str:
+        if not stream_info:
+            return "00:00:00"
+        if precision:
+            if stream_info.get("input_settings", {}).get("start_frame", "na") != "na":
+                return "00:00:00"
+            else:
+                return datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+        if stream_info.get("input_settings", {}).get("start_frame", "na") != "na":
+            return "00:00:00"
+        else:
+            if self._tracking_start_time is None:
+                stream_time_str = stream_info.get("input_settings", {}).get("stream_info", {}).get("stream_time", "")
+                if stream_time_str:
+                    try:
+                        timestamp_str = stream_time_str.replace(" UTC", "")
+                        dt = datetime.strptime(timestamp_str, "%Y-%m-%d-%H:%M:%S.%f")
+                        self._tracking_start_time = dt.replace(tzinfo=timezone.utc).timestamp()
+                    except:
+                        self._tracking_start_time = time.time()
+                else:
+                    self._tracking_start_time = time.time()
+            dt = datetime.fromtimestamp(self._tracking_start_time, tz=timezone.utc)
+            dt = dt.replace(minute=0, second=0, microsecond=0)
+            return dt.strftime('%Y:%m:%d %H:%M:%S')
+
+    def _count_categories(self, detections: list, config: VehiclePeopleDroneMonitoringConfig) -> dict:
+        counts = {}
+        for det in detections:
+            cat = det.get('category', 'unknown')
+            counts[cat] = counts.get(cat, 0) + 1
+        return {
+            "total_count": sum(counts.values()),
+            "per_category_count": counts,
+            "detections": [
+                {
+                    "bounding_box": det.get("bounding_box"),
+                    "category": det.get("category"),
+                    "confidence": det.get("confidence"),
+                    "track_id": det.get("track_id"),
+                    "frame_id": det.get("frame_id")
+                }
+                for det in detections
+            ]
+        }
+
+    def _extract_predictions(self, detections: list) -> List[Dict[str, Any]]:
+        return [
+            {
+                "category": det.get("category", "unknown"),
+                "confidence": det.get("confidence", 0.0),
+                "bounding_box": det.get("bounding_box", {})
+            }
+            for det in detections
+        ]
+
+    def _compute_iou(self, box1: Any, box2: Any) -> float:
+        def _bbox_to_list(bbox):
+            if bbox is None:
+                return []
+            if isinstance(bbox, list):
+                return bbox[:4] if len(bbox) >= 4 else []
+            if isinstance(bbox, dict):
+                if "xmin" in bbox:
+                    return [bbox["xmin"], bbox["ymin"], bbox["xmax"], bbox["ymax"]]
+                if "x1" in bbox:
+                    return [bbox["x1"], bbox["y1"], bbox["x2"], bbox["y2"]]
+                values = [v for v in bbox.values() if isinstance(v, (int, float))]
+                return values[:4] if len(values) >= 4 else []
+            return []
+        l1 = _bbox_to_list(box1)
+        l2 = _bbox_to_list(box2)
+        if len(l1) < 4 or len(l2) < 4:
+            return 0.0
+        x1_min, y1_min, x1_max, y1_max = l1
+        x2_min, y2_min, x2_max, y2_max = l2
+        x1_min, x1_max = min(x1_min, x1_max), max(x1_min, x1_max)
+        y1_min, y1_max = min(y1_min, y1_max), max(y1_min, y1_max)
+        x2_min, x2_max = min(x2_min, x2_max), max(x2_min, x2_max)
+        y2_min, y2_max = min(y2_min, y2_max), max(y2_min, y2_max)
+        inter_x_min = max(x1_min, x2_min)
+        inter_y_min = max(y1_min, y2_min)
+        inter_x_max = min(x1_max, x2_max)
+        inter_y_max = min(y1_max, y2_max)
+        inter_w = max(0.0, inter_x_max - inter_x_min)
+        inter_h = max(0.0, inter_y_max - inter_y_min)
+        inter_area = inter_w * inter_h
+        area1 = (x1_max - x1_min) * (y1_max - y1_min)
+        area2 = (x2_max - x2_min) * (y2_max - y2_min)
+        union_area = area1 + area2 - inter_area
+        return (inter_area / union_area) if union_area > 0 else 0.0
+
+    def _merge_or_register_track(self, raw_id: Any, bbox: Any) -> Any:
+        if raw_id is None or bbox is None:
+            return raw_id
+        now = time.time()
+        if raw_id in self._track_aliases:
+            canonical_id = self._track_aliases[raw_id]
+            track_info = self._canonical_tracks.get(canonical_id)
+            if track_info is not None:
+                track_info["last_bbox"] = bbox
+                track_info["last_update"] = now
+                track_info["raw_ids"].add(raw_id)
+            return canonical_id
+        for canonical_id, info in self._canonical_tracks.items():
+            if now - info["last_update"] > self._track_merge_time_window:
+                continue
+            iou = self._compute_iou(bbox, info["last_bbox"])
+            if iou >= self._track_merge_iou_threshold:
+                self._track_aliases[raw_id] = canonical_id
+                info["last_bbox"] = bbox
+                info["last_update"] = now
+                info["raw_ids"].add(raw_id)
+                return canonical_id
+        canonical_id = raw_id
+        self._track_aliases[raw_id] = canonical_id
+        self._canonical_tracks[canonical_id] = {
+            "last_bbox": bbox,
+            "last_update": now,
+            "raw_ids": {raw_id},
+        }
+        return canonical_id
+
+    def _format_timestamp(self, timestamp: float) -> str:
+        return datetime.fromtimestamp(timestamp, timezone.utc).strftime('%Y-%m-%d %H:%M:%S UTC')
+
+    def _get_tracking_start_time(self) -> str:
+        if self._tracking_start_time is None:
+            return "N/A"
+        return self._format_timestamp(self._tracking_start_time)
+
+    def _set_tracking_start_time(self) -> None:
+        self._tracking_start_time = time.time()