Use adaptive speed threshold and area fallback for kick detection

app.py

@@ -575,11 +575,14 @@ def _detect_kick_frame(state: AppState, target_obj_id: int) -> int | None:
     frames = sorted(smoothed.keys())
     speed_series = [speeds.get(f, 0.0) for f in frames]
 
-    baseline_window = min(5, len(frames) // 3 or 1)
+    baseline_window = min(10, len(frames) // 3 or 1)
     baseline_speeds = speed_series[:baseline_window]
     baseline_speed = statistics.median(baseline_speeds) if baseline_speeds else 0.0
-
-    speed_threshold = baseline_speed + 80.0  # pixels/second
+    speed_std = statistics.pstdev(baseline_speeds) if len(baseline_speeds) > 1 else 0.0
+    base_threshold = baseline_speed + 4.0 * speed_std
+    if base_threshold < baseline_speed * 3.0:
+        base_threshold = baseline_speed * 3.0
+    speed_threshold = max(base_threshold, 15.0)
     sustain_frames = 3
     holdout_frames = 8
     return_distance = 12.0
@@ -598,14 +601,14 @@ def _detect_kick_frame(state: AppState, target_obj_id: int) -> int | None:
         for j in range(1, sustain_frames + 1):
             if idx + j >= len(frames):
                 break
-            if speed_series[idx + j] < speed_threshold * 0.8:
+            if speed_series[idx + j] < speed_threshold * 0.7:
                 sustain_ok = False
                 break
         if not sustain_ok:
             continue
 
-        area_pass = True
         current_area = areas_dict.get(frame)
+        area_pass = True
         if current_area:
             prev_areas = [
                 areas_dict.get(f)
@@ -614,9 +617,11 @@ def _detect_kick_frame(state: AppState, target_obj_id: int) -> int | None:
             ]
             if prev_areas:
                 median_prev = statistics.median(prev_areas)
-                if median_prev > 0 and current_area / median_prev > area_drop_ratio:
-                    area_pass = False
-        if not area_pass:
+                if median_prev > 0:
+                    ratio = current_area / median_prev
+                    if ratio > area_drop_ratio:
+                        area_pass = False
+        if not area_pass and speed < speed_threshold * 1.2:
             continue
 
         moved_far = True