matrice-analytics 0.1.96__py3-none-any.whl → 0.1.106__py3-none-any.whl

matrice_analytics/post_processing/usecases/vehicle_monitoring_drone_view.py

@@ -0,0 +1,1223 @@
+from typing import Any, Dict, List, Optional, Tuple
+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
+from ..utils.geometry_utils import get_bbox_center, point_in_polygon, get_bbox_bottom25_center
+from ..utils.agnostic_nms import AgnosticNMS
+
+@dataclass
+class VehicleMonitoringDroneViewConfig(BaseConfig):
+    """Configuration for drone view vehicle monitoring use case."""
+    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
+
+    # Agnostic-NMS: Configuration parameters
+    enable_nms: bool = True
+    nms_iou_threshold: float = 0.45
+    nms_class_agnostic: bool = True
+    nms_min_box_size: float = 2.0
+    nms_use_vectorized: bool = True
+
+    # Class Aggregation: Configuration parameters
+    enable_class_aggregation: bool = True
+    class_aggregation_window_size: int = 30  # 30 frames ≈ 1 second at 30 FPS
+
+    #JBK_720_GATE POLYGON = [[86, 328], [844, 317], [1277, 520], [1273, 707], [125, 713]]
+    zone_config: Optional[Dict[str, List[List[float]]]] = None #field(
+#     default_factory=lambda: {
+#         "zones": {
+#             "Interest_Region": [[86, 328], [844, 317], [1277, 520], [1273, 707], [125, 713]],
+#         }
+#     }
+# )
+    usecase_categories: List[str] = field(
+        default_factory=lambda: [
+            'car', 'van', 'bus', 'truck' 
+        ]
+    )
+    target_categories: List[str] = field(
+        default_factory=lambda: [
+            'car', 'van', 'bus', 'truck' 
+        ]
+    )
+    alert_config: Optional[AlertConfig] = None
+    index_to_category: Optional[Dict[int, str]] = field(
+        default_factory=lambda: {
+            0: "car",
+            1: "van",
+            2: "bus",
+            3: "truck"
+        }
+    )
+
+class VehicleMonitoringDroneViewUseCase(BaseProcessor):
+    CATEGORY_DISPLAY = {
+        "car": "Car",
+        "van": "Van",    
+        "bus": "Bus",
+        "truck": "Truck",
+    }
+
+    def __init__(self):
+        super().__init__("vehicle_monitoring_drone_view")
+        self.category = "traffic"
+        self.CASE_TYPE: Optional[str] = 'vehicle_monitoring_drone_view'
+        self.CASE_VERSION: Optional[str] = '1.0'
+        self.target_categories = ['car', 'van', 'bus', 'truck' ]
+        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"
+        self.start_timer = None
+        
+        # Track ID storage for total count calculation
+        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}
+        self._tracked_in_zones = set()  # New: Unique track IDs that have entered any zone
+        self._total_count = 0  # Cached total count
+        self._last_update_time = time.time()  # Track when last updated
+        self._total_count_list = []
+        
+        # Zone-based tracking storage
+        self._zone_current_track_ids = {}  # zone_name -> set of current track IDs in zone
+        self._zone_total_track_ids = {}  # zone_name -> set of all track IDs that have been in zone
+        self._zone_current_counts = {}  # zone_name -> current count in zone
+        self._zone_total_counts = {}  # zone_name -> total count that have been in zone
+
+        # Agnostic-NMS: Initialize reusable NMS module
+        self._nms_module = None
+
+    def process(self, data: Any, config: ConfigProtocol, context: Optional[ProcessingContext] = None,
+                stream_info: Optional[Dict[str, Any]] = None) -> ProcessingResult:
+        processing_start = time.time()
+        if not isinstance(config, VehicleMonitoringDroneViewConfig):
+            return self.create_error_result("Invalid config type", usecase=self.name, category=self.category, context=context)
+        if context is None:
+            context = ProcessingContext()
+
+        # Determine if zones are configured
+        has_zones = bool(config.zone_config and config.zone_config.get('zones'))
+
+        # ===== DEBUG POINT 1: RAW INPUT =====
+        self._log_detection_stats(data, "01_RAW_INPUT", show_samples=True)  
+
+        # Normalize typical YOLO outputs (COCO pretrained) to internal schema
+        data = self._normalize_yolo_results(data, getattr(config, 'index_to_category', None))
+
+        # ===== DEBUG POINT 2: AFTER NORMALIZATION =====
+        self._log_detection_stats(data, "02_AFTER_NORMALIZATION", show_samples=True)
+
+        input_format = match_results_structure(data)
+        context.input_format = input_format
+        context.confidence_threshold = config.confidence_threshold
+        # NOTE : Confidence Threshold overwrite disabled for now
+        # config.confidence_threshold = 0.25
+
+        # param to be updated 
+
+        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}")
+            # ===== DEBUG POINT 3: AFTER CONFIDENCE FILTER =====
+            self._log_detection_stats(processed_data, "03_AFTER_CONFIDENCE_FILTER")
+        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")
+            # ===== DEBUG POINT 4: AFTER CATEGORY MAPPING =====
+            self._log_detection_stats(processed_data, "04_AFTER_CATEGORY_MAPPING")
+
+        # Agnostic-NMS: Apply NMS using reusable module with safety
+        if getattr(config, 'enable_nms', False):
+            pre_nms_count = len(processed_data)
+
+            # ===== DEBUG POINT 5: BEFORE NMS =====
+            self._log_detection_stats(processed_data, "05_BEFORE_NMS", show_samples=True)
+        
+            
+            # Safety: Log pre-NMS state for debugging
+            if pre_nms_count > 0:
+                sample_det = processed_data[0]
+                self.logger.debug(
+                    f"Pre-NMS sample detection keys: {list(sample_det.keys())}, "
+                    f"category type: {type(sample_det.get('category')).__name__}, "
+                    f"confidence type: {type(sample_det.get('confidence')).__name__}"
+                )
+            
+            try:
+                # Initialize NMS module if needed
+                if self._nms_module is None:
+                    self._nms_module = AgnosticNMS(
+                        iou_threshold=getattr(config, 'nms_iou_threshold', 0.45),
+                        min_box_size=getattr(config, 'nms_min_box_size', 2.0),
+                        use_vectorized=getattr(config, 'nms_use_vectorized', True)
+                    )
+                    self.logger.info("AgnosticNMS module initialized")
+                
+                # Apply NMS
+                processed_data = self._nms_module.apply(
+                    processed_data,
+                    class_agnostic=getattr(config, 'nms_class_agnostic', True),
+                    target_categories=self.target_categories
+                )
+                
+                post_nms_count = len(processed_data)
+                suppressed_count = pre_nms_count - post_nms_count
+
+                # ===== DEBUG POINT 6: AFTER NMS =====
+                self._log_detection_stats(processed_data, "06_AFTER_NMS")
+                
+                self.logger.info(
+                    f"NMS applied successfully: {pre_nms_count} -> {post_nms_count} detections "
+                    f"({suppressed_count} suppressed, {100 * suppressed_count / max(pre_nms_count, 1):.1f}%)"
+                )
+                
+            except ValueError as ve:
+                # Schema validation error - log detailed diagnostics
+                self.logger.error(f"NMS schema validation failed: {ve}")
+                self.logger.error("Continuing without NMS. Check logs above for detailed diagnostics.")
+                
+            except Exception as e:
+                # Unexpected error - log full details
+                import traceback
+                self.logger.error(f"NMS failed with unexpected error: {e}")
+                self.logger.error(f"Traceback: {traceback.format_exc()}")
+                self.logger.error("Continuing without NMS.")
+
+
+        processed_data = [d for d in processed_data if d.get('category') in self.target_categories]
+        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")
+
+            # ===== DEBUG POINT 7: AFTER TARGET CATEGORY FILTER =====
+            self._log_detection_stats(processed_data, "07_AFTER_TARGET_FILTER")
+        
+
+        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)
+
+            # ===== DEBUG POINT 8: AFTER SMOOTHING =====
+            self._log_detection_stats(processed_data, "08_AFTER_SMOOTHING")
+
+        try:
+            from ..advanced_tracker import AdvancedTracker
+            from ..advanced_tracker.config import TrackerConfig
+            if self.tracker is None:
+                tracker_config = TrackerConfig(
+                    # CLASS AGGREGATION: Map from use case config
+                    enable_class_aggregation=config.enable_class_aggregation,
+                    class_aggregation_window_size=config.class_aggregation_window_size
+                )
+                self.tracker = AdvancedTracker(tracker_config)
+                self.logger.info("Initialized AdvancedTracker for Vehicle Monitoring Drone View Use Case")
+    
+                if config.enable_class_aggregation:
+                    self.logger.info(
+                        f"AdvancedTracker initialized with class aggregation "
+                        f"(window_size={config.class_aggregation_window_size})"
+                    )
+                else:
+                    self.logger.info("AdvancedTracker initialized without class aggregation")
+            
+            processed_data = self.tracker.update(processed_data)
+
+            # ===== DEBUG POINT 9: AFTER TRACKING =====
+            self._log_detection_stats(processed_data, "09_AFTER_TRACKING")
+    
+        except Exception as e:
+            self.logger.warning(f"AdvancedTracker failed: {e}")
+
+        self._update_tracking_state(processed_data, has_zones=has_zones)
+        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
+        counting_summary['categories'] = {}
+        for detection in processed_data:
+            category = detection.get("category", "unknown")
+            counting_summary["categories"][category] = counting_summary["categories"].get(category, 0) + 1
+
+        zone_analysis = {}
+        if has_zones:
+            # Convert single frame to format expected by count_objects_in_zones
+            frame_data = processed_data #[frame_detections]
+            zone_analysis = count_objects_in_zones(frame_data, config.zone_config['zones'], stream_info)
+
+            if zone_analysis:
+                enhanced_zone_analysis = self._update_zone_tracking(zone_analysis, processed_data, config)
+                # Merge enhanced zone analysis with original zone analysis
+                for zone_name, enhanced_data in enhanced_zone_analysis.items():
+                    zone_analysis[zone_name] = enhanced_data
+
+                # Adjust counting_summary for zones (current counts based on union across zones)
+                per_category_count = {cat: len(self._current_frame_track_ids.get(cat, set())) for cat in self.target_categories}
+                counting_summary['per_category_count'] = {k: v for k, v in per_category_count.items() if v > 0}
+                counting_summary['total_count'] = sum(per_category_count.values())
+
+        alerts = self._check_alerts(counting_summary,zone_analysis, frame_number, config)
+        predictions = self._extract_predictions(processed_data)
+
+        incidents_list = self._generate_incidents(counting_summary,zone_analysis, alerts, config, frame_number, stream_info)
+        incidents_list = []
+        tracking_stats_list = self._generate_tracking_stats(counting_summary,zone_analysis, alerts, config, frame_number, stream_info)
+
+        business_analytics_list = self._generate_business_analytics(counting_summary,zone_analysis, alerts, config, stream_info, is_empty=True)
+        summary_list = self._generate_summary(counting_summary,zone_analysis, 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,
+            "zone_analysis": zone_analysis,
+            "human_text": summary}
+        }
+
+        context.mark_completed()
+        result = self.create_result(
+            data={"agg_summary": agg_summary},
+            usecase=self.name,
+            category=self.category,
+            context=context
+        )
+        proc_time = time.time() - processing_start
+        processing_latency_ms = proc_time * 1000.0
+        processing_fps = (1.0 / proc_time) if proc_time > 0 else None
+        # Log the performance metrics using the module-level logger
+        print("latency in ms:",processing_latency_ms,"| Throughput fps:",processing_fps,"| Frame_Number:",self._total_frame_counter)
+        return result
+
+    def _update_zone_tracking(self, zone_analysis: Dict[str, Dict[str, int]], detections: List[Dict], config: VehicleMonitoringDroneViewConfig) -> Dict[str, Dict[str, Any]]:
+        """
+        Update zone tracking with current frame data.
+        
+        Args:
+            zone_analysis: Current zone analysis results
+            detections: List of detections with track IDs
+            
+        Returns:
+            Enhanced zone analysis with tracking information
+        """
+        if not zone_analysis or not config.zone_config or not config.zone_config['zones']:
+            return {}
+        
+        enhanced_zone_analysis = {}
+        zones = config.zone_config['zones']
+        
+        # Get track to category mapping
+        track_to_cat = {det.get('track_id'): det.get('category') for det in detections if det.get('track_id') is not None}
+        
+        # Get current frame track IDs in each zone
+        current_frame_zone_tracks = {}
+        
+        # Initialize zone tracking for all zones
+        for zone_name in zones.keys():
+            current_frame_zone_tracks[zone_name] = set()
+            if zone_name not in self._zone_current_track_ids:
+                self._zone_current_track_ids[zone_name] = set()
+            if zone_name not in self._zone_total_track_ids:
+                self._zone_total_track_ids[zone_name] = set()
+        
+        # Check each detection against each zone
+        for detection in detections:
+            track_id = detection.get("track_id")
+            if track_id is None:
+                continue
+            
+            # Get detection bbox
+            bbox = detection.get("bounding_box", detection.get("bbox"))
+            if not bbox:
+                continue
+            
+            # Get detection center point
+            center_point = get_bbox_bottom25_center(bbox) #get_bbox_center(bbox)
+            
+            # Flag to check if this track is in any zone this frame
+            in_any_zone = False
+            
+            # Check which zone this detection is in using actual zone polygons
+            for zone_name, zone_polygon in zones.items():
+                # Convert polygon points to tuples for point_in_polygon function
+                # zone_polygon format: [[x1, y1], [x2, y2], [x3, y3], ...]
+                polygon_points = [(point[0], point[1]) for point in zone_polygon]
+                
+                # Check if detection center is inside the zone polygon using ray casting algorithm
+                if point_in_polygon(center_point, polygon_points):
+                    current_frame_zone_tracks[zone_name].add(track_id)
+                    in_any_zone = True
+                    if track_id not in self._total_count_list:
+                        self._total_count_list.append(track_id)
+            
+            # If in any zone, update global current and total (cumulative only if new)
+            if in_any_zone:
+                cat = track_to_cat.get(track_id)
+                if cat:
+                    # Update current frame global (union across zones)
+                    self._current_frame_track_ids.setdefault(cat, set()).add(track_id)
+                    
+                    # Update global cumulative if first time in any zone
+                    if track_id not in self._tracked_in_zones:
+                        self._tracked_in_zones.add(track_id)
+                        self._per_category_total_track_ids.setdefault(cat, set()).add(track_id)
+
+        # Update zone tracking for each zone
+        for zone_name, zone_counts in zone_analysis.items():
+            # Get current frame tracks for this zone
+            current_tracks = current_frame_zone_tracks.get(zone_name, set())
+            
+            # Update current zone tracks
+            self._zone_current_track_ids[zone_name] = current_tracks
+            
+            # Update total zone tracks (accumulate all track IDs that have been in zone)
+            self._zone_total_track_ids[zone_name].update(current_tracks)
+            
+            # Update counts
+            self._zone_current_counts[zone_name] = len(current_tracks)
+            self._zone_total_counts[zone_name] = len(self._zone_total_track_ids[zone_name])
+
+            # Create enhanced zone analysis
+            enhanced_zone_analysis[zone_name] = {
+                "current_count": self._zone_current_counts[zone_name],
+                "total_count": self._zone_total_counts[zone_name],
+                "current_track_ids": list(current_tracks),
+                "total_track_ids": list(self._zone_total_track_ids[zone_name]),
+                "original_counts": zone_counts  # Preserve original zone counts
+            }
+        
+        return enhanced_zone_analysis
+
+    def _normalize_yolo_results(self, data: Any, index_to_category: Optional[Dict[int, str]] = None) -> Any:
+        """
+        Normalize YOLO-style outputs to internal detection schema:
+        - category/category_id: prefer string label using COCO mapping if available
+        - confidence: map from 'conf'/'score' to 'confidence'
+        - bounding_box: ensure dict with keys (x1,y1,x2,y2) or (xmin,ymin,xmax,ymax)
+        - supports list of detections and frame_id -> detections dict
+        """
+        def to_bbox_dict(d: Dict[str, Any]) -> Dict[str, Any]:
+            if "bounding_box" in d and isinstance(d["bounding_box"], dict):
+                return d["bounding_box"]
+            if "bbox" in d:
+                bbox = d["bbox"]
+                if isinstance(bbox, dict):
+                    return bbox
+                if isinstance(bbox, (list, tuple)) and len(bbox) >= 4:
+                    x1, y1, x2, y2 = bbox[0], bbox[1], bbox[2], bbox[3]
+                    return {"x1": x1, "y1": y1, "x2": x2, "y2": y2}
+            if "xyxy" in d and isinstance(d["xyxy"], (list, tuple)) and len(d["xyxy"]) >= 4:
+                x1, y1, x2, y2 = d["xyxy"][0], d["xyxy"][1], d["xyxy"][2], d["xyxy"][3]
+                return {"x1": x1, "y1": y1, "x2": x2, "y2": y2}
+            if "xywh" in d and isinstance(d["xywh"], (list, tuple)) and len(d["xywh"]) >= 4:
+                cx, cy, w, h = d["xywh"][0], d["xywh"][1], d["xywh"][2], d["xywh"][3]
+                x1, y1, x2, y2 = cx - w / 2, cy - h / 2, cx + w / 2, cy + h / 2
+                return {"x1": x1, "y1": y1, "x2": x2, "y2": y2}
+            return {}
+
+        def resolve_category(d: Dict[str, Any]) -> Tuple[str, Optional[int]]:
+            raw_cls = d.get("category", d.get("category_id", d.get("class", d.get("cls"))))
+            label_name = d.get("name")
+            if isinstance(raw_cls, int):
+                if index_to_category and raw_cls in index_to_category:
+                    return index_to_category[raw_cls], raw_cls
+                return str(raw_cls), raw_cls
+            if isinstance(raw_cls, str):
+                # Some YOLO exports provide string labels directly
+                return raw_cls, None
+            if label_name:
+                return str(label_name), None
+            return "unknown", None
+
+        def normalize_det(det: Dict[str, Any]) -> Dict[str, Any]:
+            category_name, category_id = resolve_category(det)
+            confidence = det.get("confidence", det.get("conf", det.get("score", 0.0)))
+            bbox = to_bbox_dict(det)
+            normalized = {
+                "category": category_name,
+                "confidence": confidence,
+                "bounding_box": bbox,
+            }
+            if category_id is not None:
+                normalized["category_id"] = category_id
+            # Preserve optional fields
+            for key in ("track_id", "frame_id", "masks", "segmentation"):
+                if key in det:
+                    normalized[key] = det[key]
+            return normalized
+
+        if isinstance(data, list):
+            return [normalize_det(d) if isinstance(d, dict) else d for d in data]
+        if isinstance(data, dict):
+            # Detect tracking style dict: frame_id -> list of detections
+            normalized_dict: Dict[str, Any] = {}
+            for k, v in data.items():
+                if isinstance(v, list):
+                    normalized_dict[k] = [normalize_det(d) if isinstance(d, dict) else d for d in v]
+                elif isinstance(v, dict):
+                    normalized_dict[k] = normalize_det(v)
+                else:
+                    normalized_dict[k] = v
+            return normalized_dict
+        return data
+
+    def _check_alerts(self, summary: dict, zone_analysis: Dict, frame_number: Any, config: VehicleMonitoringDroneViewConfig) -> 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, zone_analysis: Dict, alerts: List, config: VehicleMonitoringDroneViewConfig,
+                        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 hasattr(config.alert_config, 'count_thresholds') 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, zone_analysis: Dict, alerts: List, config: VehicleMonitoringDroneViewConfig,
+                                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']))}
+            })
+
+        # Generate human text similar to people_counting format
+        human_text_lines = []
+        human_text_lines.append(f"CURRENT FRAME @ {current_timestamp}:")
+
+        # Display current counts - zone-wise or category-wise
+        if zone_analysis:
+            human_text_lines.append("\t- Vehicles Detected by Zone:")
+            for zone_name, zone_data in zone_analysis.items():
+                current_count = 0
+                if isinstance(zone_data, dict):
+                    if "current_count" in zone_data:
+                        current_count = zone_data.get("current_count", 0)
+                    else:
+                        counts_dict = zone_data.get("original_counts") if isinstance(zone_data.get("original_counts"), dict) else zone_data
+                        current_count = counts_dict.get(
+                            "total",
+                            sum(v for v in counts_dict.values() if isinstance(v, (int, float)))
+                        )
+                human_text_lines.append(f"\t\t- {zone_name}: {int(current_count)}")
+        else:
+            human_text_lines.append(f"\t- Vehicles Detected: {total_detections}")
+            if per_category_count:
+                for cat, count in per_category_count.items():
+                    if count > 0:
+                        human_text_lines.append(f"\t\t- {cat}: {count}")
+
+        human_text_lines.append("")
+        # human_text_lines.append(f"TOTAL SINCE @ {start_timestamp}:")
+
+        # # Display total counts - zone-wise or category-wise
+        # if zone_analysis:
+        #     human_text_lines.append("\t- Total Vehicles by Zone:")
+        #     for zone_name, zone_data in zone_analysis.items():
+        #         total_count = 0
+        #         if isinstance(zone_data, dict):
+        #             # Prefer the numeric cumulative total if available
+        #             if "total_count" in zone_data and isinstance(zone_data.get("total_count"), (int, float)):
+        #                 total_count = zone_data.get("total_count", 0)
+        #             # Fallback: compute from list of total_track_ids if present
+        #             elif "total_track_ids" in zone_data and isinstance(zone_data.get("total_track_ids"), list):
+        #                 total_count = len(zone_data.get("total_track_ids", []))
+        #             else:
+        #                 # Last resort: try to sum numeric values present
+        #                 counts_dict = zone_data if isinstance(zone_data, dict) else {}
+        #                 total_count = sum(v for v in counts_dict.values() if isinstance(v, (int, float)))
+        #         human_text_lines.append(f"\t\t- {zone_name}: {int(total_count)}")
+        # else:
+        #     if total_counts_dict:
+        #         human_text_lines.append("\t- Total Unique Vehicles:")
+        #         for cat, count in total_counts_dict.items():
+        #             if count > 0:
+        #                 human_text_lines.append(f"\t\t- {cat}: {count}")
+
+        # # Display alerts
+        # if alerts:
+        #     human_text_lines.append("")
+        #     for alert in alerts:
+        #         human_text_lines.append(f"Alerts: {alert.get('settings', {})} sent @ {current_timestamp}")
+        # else:
+        #     human_text_lines.append("")
+        #     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_stat['target_categories'] = self.target_categories
+        tracking_stats.append(tracking_stat)
+        return tracking_stats
+
+    def _generate_business_analytics(self, counting_summary: Dict, zone_analysis: Dict, alerts: Any, config: VehicleMonitoringDroneViewConfig,
+                                    stream_info: Optional[Dict[str, Any]] = None, is_empty=False) -> List[Dict]:
+        if is_empty:
+            return []
+
+    def _generate_summary(self, summary: dict, zone_analysis: Dict, incidents: List, tracking_stats: List, business_analytics: List, alerts: List) -> List[str]:
+        """
+        Generate a human_text string for the tracking_stat, incident, business analytics and alerts.
+        """
+        lines = []
+        lines.append("Application Name: "+self.CASE_TYPE)
+        lines.append("Application Version: "+self.CASE_VERSION)
+        if len(incidents) > 0:
+            lines.append("Incidents: "+f"\n\t{incidents[0].get('human_text', 'No incidents detected')}")
+        if len(tracking_stats) > 0:
+            lines.append("Tracking Statistics: "+f"\t{tracking_stats[0].get('human_text', 'No tracking statistics detected')}")
+        if len(business_analytics) > 0:
+            lines.append("Business Analytics: "+f"\t{business_analytics[0].get('human_text', 'No business analytics detected')}")
+
+        if len(incidents) == 0 and len(tracking_stats) == 0 and len(business_analytics) == 0:
+            lines.append("Summary: "+"No Summary Data")
+
+        return ["\n".join(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, has_zones: bool = False):
+        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
+            if not has_zones:
+                self._per_category_total_track_ids.setdefault(cat, set()).add(canonical_id)
+            # For current frame, add unconditionally here; will be overridden/adjusted if has_zones in _update_zone_tracking
+            self._current_frame_track_ids.setdefault(cat, set()).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 _format_timestamp(self, timestamp: Any) -> str:
+        """Format a timestamp to match the current timestamp format: YYYY:MM:DD HH:MM:SS.
+
+        The input can be either:
+        1. A numeric Unix timestamp (``float`` / ``int``) – it will be converted to datetime.
+        2. A string in the format ``YYYY-MM-DD-HH:MM:SS.ffffff UTC``.
+
+        The returned value will be in the format: YYYY:MM:DD HH:MM:SS (no milliseconds, no UTC suffix).
+
+        Example
+        -------
+        >>> self._format_timestamp("2025-10-27-19:31:20.187574 UTC")
+        '2025:10:27 19:31:20'
+        """
+
+        # Convert numeric timestamps to datetime first
+        if isinstance(timestamp, (int, float)):
+            dt = datetime.fromtimestamp(timestamp, timezone.utc)
+            return dt.strftime('%Y:%m:%d %H:%M:%S')
+
+        # Ensure we are working with a string from here on
+        if not isinstance(timestamp, str):
+            return str(timestamp)
+
+        # Remove ' UTC' suffix if present
+        timestamp_clean = timestamp.replace(' UTC', '').strip()
+
+        # Remove milliseconds if present (everything after the last dot)
+        if '.' in timestamp_clean:
+            timestamp_clean = timestamp_clean.split('.')[0]
+
+        # Parse the timestamp string and convert to desired format
+        try:
+            # Handle format: YYYY-MM-DD-HH:MM:SS
+            if timestamp_clean.count('-') >= 2:
+                # Replace first two dashes with colons for date part, third with space
+                parts = timestamp_clean.split('-')
+                if len(parts) >= 4:
+                    # parts = ['2025', '10', '27', '19:31:20']
+                    formatted = f"{parts[0]}:{parts[1]}:{parts[2]} {'-'.join(parts[3:])}"
+                    return formatted
+        except Exception:
+            pass
+
+        # If parsing fails, return the cleaned string as-is
+        return timestamp_clean
+
+    def _get_current_timestamp_str(self, stream_info: Optional[Dict[str, Any]], precision=False, frame_id: Optional[str]=None) -> str:
+        """Get formatted current timestamp based on stream type."""
+        
+        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)
+                stream_time_str = self._format_timestamp_for_video(start_time)
+                
+                return self._format_timestamp(stream_info.get("input_settings", {}).get("stream_time", "NA"))
+            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)
+
+            stream_time_str = self._format_timestamp_for_video(start_time)
+           
+
+            return self._format_timestamp(stream_info.get("input_settings", {}).get("stream_time", "NA"))
+        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:
+        """Get formatted start timestamp for 'TOTAL SINCE' based on stream type."""
+        if not stream_info:
+            return "00:00:00"
+        
+        if precision:
+            if self.start_timer is None:
+                candidate = stream_info.get("input_settings", {}).get("stream_time")
+                if not candidate or candidate == "NA":
+                    candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                self.start_timer = candidate
+                return self._format_timestamp(self.start_timer)
+            elif stream_info.get("input_settings", {}).get("start_frame", "na") == 1:
+                candidate = stream_info.get("input_settings", {}).get("stream_time")
+                if not candidate or candidate == "NA":
+                    candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                self.start_timer = candidate
+                return self._format_timestamp(self.start_timer)
+            else:
+                return self._format_timestamp(self.start_timer)
+
+        if self.start_timer is None:
+            # Prefer direct input_settings.stream_time if available and not NA
+            candidate = stream_info.get("input_settings", {}).get("stream_time")
+            if not candidate or candidate == "NA":
+                # Fallback to nested stream_info.stream_time used by current timestamp path
+                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()
+                        candidate = datetime.fromtimestamp(self._tracking_start_time, timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                    except:
+                        candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                else:
+                    candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+            self.start_timer = candidate
+            return self._format_timestamp(self.start_timer)
+        elif stream_info.get("input_settings", {}).get("start_frame", "na") == 1:
+            candidate = stream_info.get("input_settings", {}).get("stream_time")
+            if not candidate or candidate == "NA":
+                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")
+                        ts = dt.replace(tzinfo=timezone.utc).timestamp()
+                        candidate = datetime.fromtimestamp(ts, timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                    except:
+                        candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+                else:
+                    candidate = datetime.now(timezone.utc).strftime("%Y-%m-%d-%H:%M:%S.%f UTC")
+            self.start_timer = candidate
+            return self._format_timestamp(self.start_timer)
+        
+        else:
+            if self.start_timer is not None and self.start_timer != "NA":
+                return self._format_timestamp(self.start_timer)
+
+            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: VehicleMonitoringDroneViewConfig) -> 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 _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()
+
+
+    def _log_detection_stats(self, data: Any, stage_name: str, show_samples: bool = False) -> None:
+        """
+        Log detailed detection statistics at any pipeline stage.
+        
+        Args:
+            data: Detection data (list or dict format)
+            stage_name: Name of the pipeline stage for identification
+            show_samples: If True, show sample detection structure
+        """
+        separator = "=" * 80
+        print(f"\n{separator}")
+        print(f"[DETECTION_STATS] Stage: {stage_name}")
+        print(separator)
+        
+        # Handle different data formats
+        detections = []
+        if isinstance(data, list):
+            detections = data
+        elif isinstance(data, dict):
+            # Frame-based format
+            for frame_id, frame_dets in data.items():
+                if isinstance(frame_dets, list):
+                    detections.extend(frame_dets)
+        
+        if not detections:
+            print(f"  Total Detections: 0")
+            print(separator)
+            return
+        
+        # Calculate statistics
+        total_count = len(detections)
+        
+        # Count by category
+        category_counts = {}
+        confidence_sum = {}
+        confidence_min = {}
+        confidence_max = {}
+        bbox_format_count = {"x1/y1/x2/y2": 0, "xmin/ymin/xmax/ymax": 0, "other": 0}
+        
+        for det in detections:
+            if not isinstance(det, dict):
+                continue
+            
+            # Category counting
+            cat = det.get('category', 'UNKNOWN')
+            category_counts[cat] = category_counts.get(cat, 0) + 1
+            
+            # Confidence stats
+            conf = det.get('confidence', 0.0)
+            if cat not in confidence_sum:
+                confidence_sum[cat] = 0.0
+                confidence_min[cat] = conf
+                confidence_max[cat] = conf
+            confidence_sum[cat] += conf
+            confidence_min[cat] = min(confidence_min[cat], conf)
+            confidence_max[cat] = max(confidence_max[cat], conf)
+            
+            # BBox format detection
+            bbox = det.get('bounding_box', det.get('bbox', {}))
+            if isinstance(bbox, dict):
+                if 'x1' in bbox and 'y1' in bbox:
+                    bbox_format_count["x1/y1/x2/y2"] += 1
+                elif 'xmin' in bbox and 'ymin' in bbox:
+                    bbox_format_count["xmin/ymin/xmax/ymax"] += 1
+                else:
+                    bbox_format_count["other"] += 1
+        
+        # Print summary
+        print(f"  Total Detections: {total_count}")
+        print(f"\n  Category Distribution:")
+        
+        # Sort categories by count (descending)
+        sorted_cats = sorted(category_counts.items(), key=lambda x: x[1], reverse=True)
+        
+        for cat, count in sorted_cats:
+            percentage = (count / total_count) * 100
+            avg_conf = confidence_sum[cat] / count
+            min_conf = confidence_min[cat]
+            max_conf = confidence_max[cat]
+            
+            print(f"    [{cat:20s}] Count: {count:4d} ({percentage:5.1f}%) | "
+                f"Conf: avg={avg_conf:.3f}, min={min_conf:.3f}, max={max_conf:.3f}")
+        
+        # Print bbox format distribution
+        print(f"\n  BBox Format Distribution:")
+        for fmt, count in bbox_format_count.items():
+            if count > 0:
+                percentage = (count / total_count) * 100
+                print(f"    {fmt:25s}: {count:4d} ({percentage:5.1f}%)")
+        
+        # Show sample detection structure if requested
+        if show_samples and detections:
+            print(f"\n  Sample Detection Structure:")
+            sample = detections[0]
+            print(f"    Keys: {list(sample.keys())}")
+            print(f"    Category: {sample.get('category')} (type: {type(sample.get('category')).__name__})")
+            print(f"    Confidence: {sample.get('confidence')} (type: {type(sample.get('confidence')).__name__})")
+            
+            bbox = sample.get('bounding_box', sample.get('bbox', {}))
+            if isinstance(bbox, dict):
+                print(f"    BBox Keys: {list(bbox.keys())}")
+                if bbox:
+                    first_key = list(bbox.keys())[0]
+                    print(f"    BBox Coord Type: {type(bbox[first_key]).__name__}")
+        
+        print(separator)