SLASetTrackingParameters_t Struct Reference

Description

Set parameters used by tracking module.

typedef struct {
  u8 objectSize;
  u8 mode;
  u8 mode2;
  u8 maxMisses;
  u16 nearVal;
  u8 objectHeight;
  u8 cameraIndex;
  u8 zoomSmoothing;
  u8 rollSmoothing;
} SLASetTrackingParameters_t;

For 1500, these parameters are applied to all cameras. For 17XX, 3000, and 4000 these parameters are applied to the specified camera. Changing the tracking mode, track size, or some of the other flags while tracking will cause the track to restart.

Message ID 0x0C

Byte Offset	Name	Description
4	objectSize	Size of object, in pixels, to track. (for user designated tracking). if objectHeight==0 then this objectSize is both width and height, otherwise only width.
5	mode	Tracking modes Bits Description 0..3 Tracking Mode 0 = no change - This only impacts the Tracking Mode not any of the other flags that are part of the mode or mode2 bytes. 1 = Stationary mode – Used to track non-moving object (e.g. door, window, building, etc.). Disables moving target detection. 2 = Vehicle mode – Used to track moving objects. Works best with relatively constant velocity objects such as a car. 3 = Person mode – Used to track moving objects like people which have more erratic motion than vehicles. 4 = Scene mode – Uses frame-to-frame registration to determine position of target. May work better than Stationary Mode for low-contrast non moving targets. 5 = Reserved 6 = Static mode – Fixed location non-moving track box used for SLATrackingBoxPixelStats_t 7 = No Registration – Use to track moving or non-moving objects when it is difficult to accurately estimate frame-to-frame registration 8 = Drone mode – Erratically moving quadcopters, for example. 9..14 = Reserved 15 = Reserved – Internal Sightline Use. 4 High noise compensation. 0 = off (default) 1 = on – improves tracking in very high noise situations, but processing time increases 5 Acquisition assist 0 = off (default) 1 = on – assists initialization of the track box size and location. Impacts user designated targets in all tracking modes as well as targets auto designated from detections. 6 Intelligent assist. 0 = off (default) 1 = on – tracker will look for turning tracks and if detected will attempt a reacquisition. The new track will be followed for a period of time before replacing the current track. Requires Acquisition Assist to be enabled 7 Reduced search. 0 = off (default). Tracker searches a slightly larger area including the estimated position and the last position. New in 2.25. 1 = on – Tracker will only search in the estimated position, similiar behavior to 2.24.
6	mode2	Tracking modes Bits Description 0 Run Classifier – Deprecated. See SLAClassifierParameters_t 1 Mode Switch Without Reset – When switching tracking modes while a track is active the track will be completely reset. Set this bit to switch between vehicle and person mode without resetting the track. Not valid for switching between any other modes. 2 Zoom Scale – scale the track box with the estimated zoom from registration. Default is not set. 1..7 *Reserved*
7	maxMisses	Maximum number of frames to keep looking for a non-found object before stopping a track. (Default is 45 frames or 1.5 seconds.) Controls how long a track can be off screen or obscured(eg.behind a tree) before the track will give up. 0 = no change. Valid range is 15-255.
8-9	nearVal	'radius of engagement' used with SLAStartTracking_t modes. This is the area around an existing target that interactions can take place.Large values allow greater tolerance in selecting tracks.
10	objectHeight	Height of object, in pixels, to track. (for user designated tracking) if value is 0, uses objectSize above.
11	cameraIndex	Camera Index Ignored on 1500, applies settings to all cameras.
12	zoomSmoothing	Percentage to smooth zoom estimates coming from registration. 0 to 100%. Default is 5%.
13	rollSmoothing	Percentage to smooth rotation estimates coming from registration. 0 to 100%. Default is 5%.