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  • Remapping
  • Examples of functionality
  • Reference

Tracklets

Tracklets are produced by the ObjectTracker node. They provide tracking information for detected objects, including ROI, track ID, label, age, and status.When the tracker receives detections with spatial data, each tracklet also carries spatialCoordinates (X/Y/Z in mm). velocity and speed are optional 3D estimates in m/s and are empty when no valid spatial state is available, such as RGB-only tracking.

Remapping

Tracklets is transformable, which means it can be remapped into another frame's coordinate system. See Remapping transformable messages for details.

Examples of functionality

Reference

class

dai::Tracklets

#include Tracklets.hpp
variable
LengthUnit unit
Measurement unit used by all tracklets'
variable
std::vector< Tracklet > tracklets
Retrieve data for Tracklets.
Returns
Vector of object tracker data, carrying tracking information.
variable
int64_t sequenceNum
variable
variable
Timestamp tsDevice
variable
std::optional< ImgTransformation > transformation
function
Tracklets()
Construct Tracklets message.
function
~Tracklets()
function
Tracklets transformTo(const ImgTransformation & target)
Returns a new Tracklets message with the tracklets transformed into the target image transformation.For each tracklet, the bounding box is assumed to lie on a plane parallel to the image plane at depth
Parameters
  • target: Target image transformation.
function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)
function
DEPTHAI_SERIALIZE(Tracklets, tracklets, transformation, ts, tsDevice, sequenceNum, unit)
function
std::optional< ImgTransformation > getTransformation()
Returns the current transformation if set, else std::nullopt.
function
void setTransformation(const ImgTransformation & transformation)
Sets the current transformation.

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