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

#include <ObjectTracker.hpp>

Inheritance diagram for dai::node::ObjectTracker:

Public Member Functions
	ObjectTracker (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)

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

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

void	setMaxObjectsToTrack (std::int32_t maxObjectsToTrack)

void	setTrackerIdAssignmentPolicy (TrackerIdAssignmentPolicy type)

void	setTrackerThreshold (float threshold)

void	setTrackerType (TrackerType type)

void	setTrackingPerClass (bool trackingPerClass)

Public Member Functions inherited from dai::NodeCRTP< Node, ObjectTracker, ObjectTrackerProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
Input	inputDetectionFrame {*this, "inputDetectionFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

Input	inputDetections {*this, "inputDetections", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgDetections, true}}}

Input	inputTrackerFrame {*this, "inputTrackerFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

Output	out {*this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}}

Output	passthroughDetectionFrame {*this, "passthroughDetectionFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	passthroughDetections {*this, "passthroughDetections", Output::Type::MSender, {{DatatypeEnum::ImgDetections, true}}}

Output	passthroughTrackerFrame {*this, "passthroughTrackerFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, ObjectTracker, ObjectTrackerProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "ObjectTracker"

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, ObjectTracker, ObjectTrackerProperties >
using	Properties = ObjectTrackerProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Member Functions inherited from dai::Node
virtual Properties &	getProperties ()

virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

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

Definition at line 19 of file ObjectTracker.hpp.

Constructor & Destructor Documentation

◆ ObjectTracker() [1/2]

dai::node::ObjectTracker::ObjectTracker	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Definition at line 8 of file ObjectTracker.cpp.

◆ ObjectTracker() [2/2]

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

Definition at line 10 of file ObjectTracker.cpp.

Member Function Documentation

◆ setDetectionLabelsToTrack()

void dai::node::ObjectTracker::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.

Definition at line 24 of file ObjectTracker.cpp.

◆ setMaxObjectsToTrack()

void dai::node::ObjectTracker::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.

Definition at line 20 of file ObjectTracker.cpp.

◆ setTrackerIdAssignmentPolicy()

void dai::node::ObjectTracker::setTrackerIdAssignmentPolicy ( TrackerIdAssignmentPolicy type )

Specify tracker ID assignment policy.

Parameters

type	Tracker ID assignment policy.

Definition at line 32 of file ObjectTracker.cpp.

◆ setTrackerThreshold()

void dai::node::ObjectTracker::setTrackerThreshold ( float threshold )

Specify tracker threshold.

Parameters

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

Definition at line 16 of file ObjectTracker.cpp.

◆ setTrackerType()

void dai::node::ObjectTracker::setTrackerType ( TrackerType type )

Specify tracker type algorithm.

Parameters

type	Tracker type.

Definition at line 28 of file ObjectTracker.cpp.

◆ setTrackingPerClass()

void dai::node::ObjectTracker::setTrackingPerClass ( bool trackingPerClass )

Whether tracker should take into consideration class label for tracking.

Definition at line 35 of file ObjectTracker.cpp.

Member Data Documentation

◆ inputDetectionFrame

Input dai::node::ObjectTracker::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.

Definition at line 36 of file ObjectTracker.hpp.

◆ inputDetections

Input dai::node::ObjectTracker::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.

Definition at line 42 of file ObjectTracker.hpp.

◆ inputTrackerFrame

Input dai::node::ObjectTracker::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.

Definition at line 30 of file ObjectTracker.hpp.

◆ NAME

constexpr static const char* dai::node::ObjectTracker::NAME = "ObjectTracker"

staticconstexpr

Definition at line 21 of file ObjectTracker.hpp.

◆ out

Output dai::node::ObjectTracker::out {*this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}}

Outputs Tracklets message that carries object tracking results.

Definition at line 47 of file ObjectTracker.hpp.

◆ passthroughDetectionFrame

Output dai::node::ObjectTracker::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.

Definition at line 59 of file ObjectTracker.hpp.

◆ passthroughDetections

Output dai::node::ObjectTracker::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.

Definition at line 65 of file ObjectTracker.hpp.

◆ passthroughTrackerFrame

Output dai::node::ObjectTracker::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.

Definition at line 53 of file ObjectTracker.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ObjectTracker() [1/2]

◆ ObjectTracker() [2/2]

Member Function Documentation

◆ setDetectionLabelsToTrack()

◆ setMaxObjectsToTrack()

◆ setTrackerIdAssignmentPolicy()

◆ setTrackerThreshold()

◆ setTrackerType()

◆ setTrackingPerClass()

Member Data Documentation

◆ inputDetectionFrame

◆ inputDetections

◆ inputTrackerFrame

◆ NAME

◆ out

◆ passthroughDetectionFrame

◆ passthroughDetections

◆ passthroughTrackerFrame