Class ObjectTracker

Inheritance Relationships

public dai::NodeCRTP< Node, ObjectTracker, ObjectTrackerProperties > (Template Class NodeCRTP)

class ObjectTracker : public dai::NodeCRTP<Node, ObjectTracker, ObjectTrackerProperties>

ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm.

Public Functions

ObjectTracker(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)

void setTrackerThreshold(float threshold)

Specify tracker threshold.

Parameters:: threshold – Above this threshold the detected objects will be tracked. Default 0, all image detections are tracked.

void setMaxObjectsToTrack(std::int32_t maxObjectsToTrack)

Specify maximum number of object to track.

Parameters:: maxObjectsToTrack – Maximum number of object to track. Maximum 60 in case of SHORT_TERM_KCF, otherwise 1000.

void setDetectionLabelsToTrack(std::vector<std::uint32_t> labels)

Specify detection labels to track.

Parameters:: labels – Detection labels to track. Default every label is tracked from image detection network output.

void setTrackerType(TrackerType type)

Specify tracker type algorithm.

void setTrackerIdAssignmentPolicy(TrackerIdAssignmentPolicy type)

Specify tracker ID assignment policy.

void setTrackingPerClass(bool trackingPerClass): Whether tracker should take into consideration class label for tracking.

Public Members

Input inputTrackerFrame = {*this, "inputTrackerFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}: Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported. Default queue is non-blocking with size 4.

Input inputDetectionFrame = {*this, "inputDetectionFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}: Input ImgFrame message on which object detection was performed. Default queue is non-blocking with size 4.

Input inputDetections = {*this, "inputDetections", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgDetections, true}}}: Input message with image detection from neural network. Default queue is non-blocking with size 4.

Output out = {*this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}}: Outputs Tracklets message that carries object tracking results.

Output passthroughTrackerFrame = {*this, "passthroughTrackerFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}: Passthrough ImgFrame message on which tracking was performed. Suitable for when input queue is set to non-blocking behavior.

Output passthroughDetectionFrame = {*this, "passthroughDetectionFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}: Passthrough ImgFrame message on which object detection was performed. Suitable for when input queue is set to non-blocking behavior.

Output passthroughDetections = {*this, "passthroughDetections", Output::Type::MSender, {{DatatypeEnum::ImgDetections, true}}}: Passthrough image detections message from neural network output. Suitable for when input queue is set to non-blocking behavior.

Public Static Attributes