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hailo_tracker.rst

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Hailo Tracker

Overview

HailoTracker is an element which enables the user to track HailoDetection objects using the Joint-Detection-and-Embedding (JDE) Tracking algorithm. JDE is a fast and high-performance multiple-object tracking algorithm that associates between detections in consecutive frames based on size/location/movement. Associations are made by linear assignment via a Kalman Filter.

Parameters

The hailotracker element provides a series of properties that allow you to adjust the tracking algorithm. The most important property to set is class-id: this determines if the tracker will track all HailoDetection objects indiscriminately of class or focus only on detections of a specific class id (the default behavior is to track across-classes).

Hierarchy

GObject
 +----GInitiallyUnowned
       +----GstObject
             +----GstElement
                   +----GstBaseTransform
                         +----GstVideoFilter
                               +----GstHailoTracker

Pad Templates:
  SRC template: 'src'
    Availability: Always
    Capabilities:
      ANY

  SINK template: 'sink'
    Availability: Always
    Capabilities:
      ANY

Element has no clocking capabilities.
Element has no URI handling capabilities.

Pads:
  SINK: 'sink'
    Pad Template: 'sink'
  SRC: 'src'
    Pad Template: 'src'

Element Properties:
  name                : The name of the object
                        flags: readable, writable
                        String. Default: "hailotracker0"
  parent              : The parent of the object
                        flags: readable, writable
                        Object of type "GstObject"
  qos                 : Handle Quality-of-Service events
                        flags: readable, writable
                        Boolean. Default: true
  debug               : Enable debug mode.
                        flags: readable, writable, controllable
                        Boolean. Default: false
  class-id            : The class id of the class to track. Default -1 crosses classes.
                        flags: readable, writable, changeable only in NULL or READY state
                        Integer. Range: -2147483648 - 2147483647 Default: -1
  kalman-dist-thr     : Threshold used in Kalman filter to compare Mahalanobis cost matrix. Closer to 1.0 is looser.
                        flags: readable, writable, controllable
                        Float. Range:               0 -               1 Default:             0.7
  iou-thr             : Threshold used in Kalman filter to compare IOU cost matrix. Closer to 1.0 is looser.
                        flags: readable, writable, controllable
                        Float. Range:               0 -               1 Default:             0.8
  init-iou-thr        : Threshold used in Kalman filter to compare IOU cost matrix of newly found instances. Closer to 1.0 is looser.
                        flags: readable, writable, controllable
                        Float. Range:               0 -               1 Default:             0.9
  keep-tracked-frames : Number of frames to keep without a successful match before a 'tracked' instance is considered 'lost'.
                        flags: readable, writable, controllable
                        Integer. Range: 0 - 2147483647 Default: 2
  keep-new-frames     : Number of frames to keep without a successful match before a 'new' instance is removed from the tracking record.
                        flags: readable, writable, controllable
                        Integer. Range: 0 - 2147483647 Default: 2
  keep-lost-frames    : Number of frames to keep without a successful match before a 'lost' instance is removed from the tracking record.
                        flags: readable, writable, controllable
                        Integer. Range: 0 - 2147483647 Default: 2