SLASetAdvancedDetectionParameters_t Struct Reference

Description

Perform advanced control of the MTI parameters.

typedef struct {
  s16 minVel8;
  s16 maxVel8;
  s16 maxAccel8;
  s16 minWide;
  s16 maxWide;
  s16 minHigh;
  s16 maxHigh;
  u8 hideOverlapTrks;
  u8 nFramesBack;
  u8 mergeRadius;
  u8 mergeDirTol;
  u8 useRegistration;
  u8 detUpdateRate;
  u8 surroundSize;
  u8 reserved3;
  u16 bgTimeConst;
  u8 bgEdgePenalty6;
  u8 bgResetConf;
  u8 bgResetOff;
  u8 bgResetAng;
  u8 bgResetFrames;
  u8 bgWarpConf;
  u8 bgWarpOff;
  u8 bgWarpAng;
  u8 bgWarpFrames;
  u8 maxTrackFrames;
  u8 debugFiltering;
  u8 downsample;
  u8 maxTelemTrks;
  u8 maxKlvTrks;
  u8 cameraIndex;
  u8 blocksHigh;
  u8 blocksWide;
  u8 maxDisplayTrks;
  u8 ellipsePadding;
} SLASetAdvancedDetectionParameters_t;

These parameters apply to all modes except where explicitly stated otherwise.
NOTE: Applied to the Command Camera.

Message ID 0x76

Byte Offset	Name	Description
4-5	minVel8	Minimum target velocity (256*pixels/frame) (-1 = not set) (not used in vehicle, person, drone or gas modes)
6-7	maxVel8	Maximum target velocity (256*pixels/frame) (-1 = not set) (not used in vehicle, person, drone or gas modes)
8-9	maxAccel8	Maximum target acceleration (256*pixels/frame2) (-1 = not set) (not used in vehicle, person, drone, anomaly, radiometric, blob, maritime or gas mode)
10-11	minWide	Minimum target width (pixels) (-1 = not set) (not used in vehicle, person, drone or gas modes)
12-13	maxWide	Maximum target width (pixels) (-1 = not set) (not used in vehicle, person, drone or gas modes)
14-15	minHigh	Minimum target height (pixels) (-1 = not set) (not used in vehicle, person, drone or gas modes)
16-17	maxHigh	Maximum target height (pixels) (-1 = not set) (not used in vehicle, person, drone or gas modes)
18	hideOverlapTrks	1 = Hide targets that overlap with object tracks – these will not be displayed or reported in telemetry; 0 = Don't hide (not used in vehicle, person, drone, anomaly, or gas mode)
19	nFramesBack	Number of frames to go back in time to compare frames in MTI difference mode, default 15. Parameter only applies to aerial and gas modes. Aerial: (5 to 15) Use 15 for small slow moving object detection and smaller numbers for faster larger objects. Gas: (2 to 15) Use 5 for a moving camera. Increase for fixed camera for more sensitivity or decrease for less enhancement.
20	mergeRadius	Maximum distance between targets at which they can be merged into a single target (0 to 255 pixels), 0 = automatic, default = 0, typical is 10 to 25 (not used in vehicle, person, drone, anomaly, radiometric, blob, maritime or gas mode)
21	mergeDirTol	Maximum angle heading difference between targets at which they can be merged (0 to 180 degrees), default = 45 degrees (not used in vehicle, person, drone, anomaly, radiometric, blob, maritime or gas mode)
22	useRegistration	Use registration information to track detections from frame to frame (not used in vehicle, person, drone, aerial, staring or gas mode)
23	detUpdateRate	Rate we update the background model for detection algorithms, 0-255. Larger values put more emphasis to the current frame. (not used in vehicle, person, drone, aerial, radiometric, blob, staring or gas mode)
24	surroundSize	Blob Detection: size of surround for high pass processing default = 7. Range = 7-79 (odd numbers) (applies only to blob mode)
25	reserved3	Reserved
26-27	bgTimeConst	Time constant (in frames) at which frames are averaged into the background model (at the default value of 600, the background will mostly be replaced after about 20 seconds (applies only to staring mode)
28	bgEdgePenalty6	Penalty to apply to edges in background model mode – typical values are 0 (no edge penalty) to 64 (full edge penalty), default 64 (applies only to staring mode)
29	bgResetConf	Reset background model if registration confidence falls below this value; 0 to 100, default 40
30	bgResetOff	Reset background model if the registration column or row offset exceeds this value; 0 to 255, default 100
31	bgResetAng	Reset background model if the registration angle in degrees exceeds this value; 0 to 180, default 1
32	bgResetFrames	Reserved Allows for recovery from temporary bad frames or temporary large motion, but resets when there is a large amount of motion.
33	bgWarpConf	Warp the background model if registration confidence falls below this value; 0 to 100, default 85 (applies only to staring mode)
34	bgWarpOff	Warp the background model if the registration column or row offset exceeds this value; 0 to 255, default 32 (applies only to staring mode)
35	bgWarpAng	Warp the background model if the registration angle in degrees exceeds this value; 0 to 180, default 1 (applies only to staring mode)
36	bgWarpFrames	Reserved Allows for ignoring a small number of bad frames or temporary large motion, but warps when there is a significant amount of motion.
37	maxTrackFrames	Number of frames to keep tracking once target has disappeared, 1 to 254; 0 = automatic, 255 = don't drop (not used in vehicle, person, or drone modes)
38	debugFiltering	Debug flags to help user understand filtering based on size,velocity, and acceleration. Bit Description 0-3 0 = No debug drawing, 1 = Show Size (high,wide), 2 = Show Velocity, 3 = Show Acceleartion (Not yet implemented) 4 Reserved 5 Reserved SightLine internal use only. 6 1 = Show tracks that don't make it in telemetry or klv in orange. 0 = Show tracks in default color set by user. See maxTelemTrks and maxKlvTrks. 7 1 = Show filtered tracks in red. 0 = Don't show filtered tracks: NOTE: When enabling this, filtered tracks also appear in telemetry and KLV streams but will have confidence of 0.
39	downsample	0 = none 1 = 2x2 2 = 4x4 3 = 8x8 255 = automatic based on frame size (not used in anomaly mode). Note: Hardware limitations exist based on the platform and algorithm.
40	maxTelemTrks	Maximum number of MTI tracks reported in SLATrackingPositions_t, default 10. If the total number of tracks is greater than maxTelemTrks, then the reported tracks are chosen based on which tracks have the highest confidence.
41	maxKlvTrks	Maximum number of MTI tracks reported in the KLV data, default 10. If the total number of tracks is greater than maxKlvTrks, then the reported tracks are chosen based on which tracks have the highest confidence.
42	cameraIndex	Camera for settings. If not present, applies to command camera.
43	blocksHigh	Number of vertical blocks to use for region based processing, range 1 to 16, default 1. (applies only to blob mode)
44	blocksWide	Number of horizontal blocks to use for region based processing, range 1 to 16, default 1. (applies only to blob mode)
45	maxDisplayTrks	Maximum number of MTI tracks displayed, default 100. (not used in vehicle, person, or drone modes) If the total number of tracks is greater than maxDisplayTrks, then the displayed tracks are chosen based on which tracks have the highest confidence.
46	ellipsePadding	Padding added to the estimated target size when drawing overlays. Range 0 to 100, default is 5. (not used in vehicle, person, or drone modes)