fix(controller): preserve UUID for static objects after occlusion (#1152)

controller/src/controller/ilabs_tracking.py

@@ -129,7 +129,13 @@ def from_tracked_object(self, tracked_object, objects):
         sscape_object.inferRotationFromVelocity()
         break
     if not found:
-      sscape_object.setGID(uuid)
+      # Check if UUID manager already has a mapping for this rv_id
+      with self.uuid_manager.active_ids_lock:
+        existing_gid = self.uuid_manager.active_ids.get(sscape_object.rv_id, [None])[0]
+      if existing_gid is None:
+        sscape_object.setGID(uuid)
+      else:
+        sscape_object.setGID(existing_gid)
 
     self.uuid_manager.assignID(sscape_object)
 
@@ -176,8 +182,13 @@ def trackCategory(self, objects, when, already_tracked_objects):
     """Create reliable tracks for objects detected and tracks detected"""
     when = datetime.fromtimestamp(when)
     self.update_tracks(objects, when)
-    tracked_objects = self.tracker.get_reliable_tracks()
-    self.uuid_manager.pruneInactiveTracks(tracked_objects)
+    reliable_tracks = self.tracker.get_reliable_tracks()
+    # Include ALL active C++ tracks to preserve UUID mappings
+    all_active_tracks = set(reliable_tracks +
+                            self.tracker.get_unreliable_tracks() +
+                            self.tracker.get_suspended_tracks())
+    tracked_objects = reliable_tracks
+    self.uuid_manager.pruneInactiveTracks(all_active_tracks)
     tracks_from_detections = [self.from_tracked_object(tracked_object, objects)
                      for tracked_object in tracked_objects]
 
@@ -190,8 +201,13 @@ def trackCategoryBatched(self, objects_per_camera, when, already_tracked_objects
     """Create reliable tracks for objects from multiple cameras using batched tracking"""
     when = datetime.fromtimestamp(when)
     self.update_tracks_batched(objects_per_camera, when)
-    tracked_objects = self.tracker.get_reliable_tracks()
-    self.uuid_manager.pruneInactiveTracks(tracked_objects)
+    reliable_tracks = self.tracker.get_reliable_tracks()
+    # Include ALL active C++ tracks to preserve UUID mappings
+    all_active_tracks = set(reliable_tracks +
+                            self.tracker.get_unreliable_tracks() +
+                            self.tracker.get_suspended_tracks())
+    tracked_objects = reliable_tracks
+    self.uuid_manager.pruneInactiveTracks(all_active_tracks)
 
     # Flatten all objects for from_tracked_object lookup
     all_objects = [obj for camera_objects in objects_per_camera for obj in camera_objects]

controller/src/controller/uuid_manager.py

@@ -46,7 +46,7 @@ def pruneInactiveTracks(self, tracked_objects):
 
     @param  tracked_objects  The objects currently tracked by the tracker
     """
-    active_tracks = [tracked_object.id for tracked_object in tracked_objects]
+    active_tracks = {tracked_object.id for tracked_object in tracked_objects}
     inactive_tracks = []
     new_active_ids = {}
     with self.active_ids_lock:
@@ -290,6 +290,11 @@ def assignID(self, sscape_object):
         if sscape_object.rv_id not in self.active_query:
           self.active_query[sscape_object.rv_id] = True
           self.pool.submit(self.querySimilarity, sscape_object)
+      else:
+         # Re-ID is disabled or we don't have enough features; fall back to using the generated GID
+         with self.active_ids_lock:
+           if self.active_ids.get(sscape_object.rv_id, [None])[0] is None:
+             self.active_ids[sscape_object.rv_id] = [sscape_object.gid, None]    
     else:
       self.pickBestID(sscape_object)
     return

controller/src/robot_vision/include/rv/tracking/MultipleObjectTracker.hpp

@@ -82,6 +82,16 @@ class MultipleObjectTracker
     return mTrackManager.getReliableTracks();
   }
 
+  inline std::vector<TrackedObject> getSuspendedTracks()
+  {
+    return mTrackManager.getSuspendedTracks();
+  }
+
+  inline std::vector<TrackedObject> getUnreliableTracks()
+  {
+    return mTrackManager.getUnreliableTracks();
+  }
+
   /**
    * @brief Returns a the list of all active tracked objects
    *

controller/src/robot_vision/python/src/robot_vision/extensions/tracking.cpp

@@ -325,6 +325,12 @@ py::class_<rv::tracking::Classification>(tracking, "Classification", "Classifica
     .def("get_reliable_tracks",
          &rv::tracking::MultipleObjectTracker::getReliableTracks,
          "Returns a list of all active reliable tracks.")
+    .def("get_suspended_tracks",
+         &rv::tracking::MultipleObjectTracker::getSuspendedTracks,
+         "Returns a list of all suspended tracks.")
+    .def("get_unreliable_tracks",
+         &rv::tracking::MultipleObjectTracker::getUnreliableTracks,
+         "Returns a list of all active unreliable tracks.")
     .def("update_tracker_params",
          &rv::tracking::MultipleObjectTracker::updateTrackerParams,
          "Updates tracker frame based parameters.");