ITEP-89520: Sensor tagging for high performan tracker #1308
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@@ -63,6 +63,7 @@ def __init__(self, name, map_file, scale=None, | |
| self.trackerType = None | ||
| self.persist_attributes = {} | ||
| self.time_chunking_rate_fps = time_chunking_rate_fps | ||
| self._analytics_objects = {} | ||
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| if not ControllerMode.isAnalyticsOnly(): | ||
| self._setTracker("time_chunked_intel_labs" if time_chunking_enabled else self.DEFAULT_TRACKER) | ||
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@@ -312,22 +313,24 @@ def processSensorData(self, jdata, when): | |
| timestamp_str = get_iso_time(when) | ||
| timestamp_epoch = when | ||
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| # Find all objects currently in the sensor region across ALL detection types | ||
| # Optimization: check if scene-wide to avoid redundant isPointWithin calls | ||
| # TODO: Further optimize for scenes with many objects: spatial indexing (R-tree), | ||
| # bounding box pre-filtering, or tracking only recently-moved objects | ||
| is_scene_wide = sensor.area == Region.REGION_SCENE | ||
| objects_in_sensor = [] | ||
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| if self.use_tracker: | ||
| for detectionType in self.tracker.trackers.keys(): | ||
| for obj in self.tracker.currentObjects(detectionType): | ||
| # When tracking is disabled, do not rely on obj.frameCount being initialized | ||
| if (not self.use_tracker or obj.frameCount > 3) and (is_scene_wide or sensor.isPointWithin(obj.sceneLoc)): | ||
| objects_in_sensor.append(obj) | ||
| obj.chain_data.active_sensors.add(sensor_id) | ||
| else: | ||
| for obj in self._analytics_objects.values(): | ||
| if is_scene_wide or sensor.isPointWithin(obj.sceneLoc): | ||
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Contributor
There was a problem hiding this comment. Not for this PR: I think it is odd that all of region, sensor, tripwires are just handled and operated on openly in our scene class. Think about creating a base class called "Analytic" and Region, Tripwire and Sensor derive from it and the process method is overridden in each. |
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| objects_in_sensor.append(obj) | ||
| obj.chain_data.active_sensors.add(sensor_id) | ||
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There was a problem hiding this comment.
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| log.debug("SENSOR OBJECTS FOUND", sensor_id, len(objects_in_sensor), "type:", sensor.singleton_type) | ||
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@@ -398,7 +401,7 @@ def _updateAttributeSensorEvents(self, objects_in_sensor, sensor_id, cur_value, | |
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| return | ||
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| def updateTrackedObjects(self, detection_type, tracked_objects): | ||
| """ | ||
| Update the cache of tracked objects from MQTT. | ||
| This is used by Analytics to consume tracked objects published by the Tracker service. | ||
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@@ -407,7 +410,24 @@ def updateTrackedObjects(self, detection_type, objects): | |
| detection_type: The type of detection (e.g., 'person', 'vehicle') | ||
| objects: List of tracked objects for this detection type | ||
| """ | ||
| self.tracked_objects_cache[detection_type] = tracked_objects | ||
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| if ControllerMode.isAnalyticsOnly(): | ||
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Contributor
There was a problem hiding this comment. Please verify if use_tracer and isAnalyticsOnly are redundant.
Contributor
Author
There was a problem hiding this comment. It looks to me like |
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| current_ids = {obj['id'] for obj in tracked_objects if 'id' in obj} | ||
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| # Only remove stale objects belonging to THIS detection type | ||
| stale = [ | ||
| oid for oid, wrapper in self._analytics_objects.items() | ||
| if wrapper.category == detection_type and oid not in current_ids | ||
| ] | ||
| for oid in stale: | ||
| del self._analytics_objects[oid] | ||
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| # Create or update wrappers — deserialize as a batch for efficiency, | ||
| # then index results by id so _analytics_objects stays consistent. | ||
| deserialized = self._deserializeTrackedObjects(tracked_objects) | ||
| for wrapper in deserialized: | ||
| self._analytics_objects[wrapper.gid] = wrapper | ||
| return | ||
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| def getTrackedObjects(self, detection_type): | ||
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@@ -437,7 +457,8 @@ def getTrackedObjects(self, detection_type): | |
| def _deserializeTrackedObjects(self, serialized_objects): | ||
| """ | ||
| Convert serialized tracked objects to a format usable by Analytics. | ||
| Reuses existing objects from _analytics_objects cache to preserve chain_data | ||
| state (sensor readings, region history) across frames. | ||
| If objects are already deserialized, returns them as-is. | ||
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| Args: | ||
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@@ -446,7 +467,6 @@ def _deserializeTrackedObjects(self, serialized_objects): | |
| Returns: | ||
| List of object-like structures with necessary attributes | ||
| """ | ||
| if not serialized_objects or not isinstance(serialized_objects, list): | ||
| return serialized_objects if serialized_objects else [] | ||
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@@ -457,62 +477,64 @@ def _deserializeTrackedObjects(self, serialized_objects): | |
| for obj_data in serialized_objects: | ||
| if not isinstance(obj_data, dict): | ||
| continue | ||
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| obj_id = obj_data.get('id') | ||
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| # Reuse existing object to preserve chain_data, or create a new one | ||
| if obj_id in self._analytics_objects: | ||
| obj = self._analytics_objects[obj_id] | ||
| else: | ||
| obj = SimpleNamespace() | ||
| obj.chain_data = ChainData(regions={}, publishedLocations=[], persist={}) | ||
| self._analytics_objects[obj_id] = obj | ||
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| # Update position and all fields every frame | ||
| obj.gid = obj_id | ||
| obj.category = obj_data.get('type', obj_data.get('category')) | ||
| obj.sceneLoc = Point(obj_data.get('translation', [0, 0, 0])) | ||
| obj.velocity = Point(obj_data.get('velocity', [0, 0, 0])) if obj_data.get('velocity') else None | ||
| obj.size = obj_data.get('size') | ||
| obj.confidence = obj_data.get('confidence') | ||
| obj.frameCount = obj_data.get('frame_count', 4) # > 3 so sensor/region checks pass | ||
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daddo-intel marked this conversation as resolved.
Outdated
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| obj.rotation = obj_data.get('rotation') | ||
| obj.reid = {} | ||
| obj.metadata = {} | ||
| obj.vectors = [] | ||
| obj.boundingBox = None | ||
| obj.boundingBoxPixels = None | ||
| obj.intersected = False | ||
| obj.visibility = obj_data.get('visibility', []) | ||
| obj.info = {'category': obj.category, 'confidence': obj.confidence} | ||
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| # Extract reid from metadata if present | ||
| metadata = obj_data.get('metadata', {}) | ||
| obj.reid = metadata.get('reid') if metadata else {} | ||
| obj.similarity = obj_data.get('similarity') | ||
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| if 'camera_bounds' in obj_data and obj_data['camera_bounds']: | ||
| obj._camera_bounds = obj_data['camera_bounds'] | ||
| else: | ||
| obj._camera_bounds = None | ||
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| # Timestamps | ||
| if 'first_seen' in obj_data: | ||
| obj.first_seen = get_epoch_time(obj_data['first_seen']) | ||
| obj.when = obj.first_seen | ||
| # Cache the first_seen from MQTT data | ||
| self.object_history_cache.setdefault(obj_id, {})['first_seen'] = obj.when | ||
| elif obj_id in self.object_history_cache and 'first_seen' in self.object_history_cache[obj_id]: | ||
| obj.first_seen = self.object_history_cache[obj_id]['first_seen'] | ||
| obj.when = obj.first_seen | ||
| else: | ||
| current_time = get_epoch_time() | ||
| obj.first_seen = current_time | ||
| obj.when = current_time | ||
| self.object_history_cache.setdefault(obj_id, {})['first_seen'] = current_time | ||
| log.debug(f"First time seeing object id {obj_id} from MQTT; setting first_seen to current time: {current_time}") | ||
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| # Update chain_data regions and persist from latest frame data | ||
| obj.chain_data.regions = obj_data.get('regions', obj.chain_data.regions) | ||
| obj.chain_data.persist = obj_data.get('persistent_data', obj.chain_data.persist) | ||
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| # Convert serialized sensors into env_sensor_state and attr_sensor_events | ||
| sensors_data = obj_data.get('sensors', {}) | ||
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@@ -528,16 +550,11 @@ def _deserializeTrackedObjects(self, serialized_objects): | |
| else: | ||
| obj.chain_data.attr_sensor_events[sensor_id] = values | ||
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| # Restore published locations from history cache | ||
| if obj_id in self.object_history_cache: | ||
| obj.chain_data.publishedLocations = self.object_history_cache[obj_id].get('publishedLocations', []) | ||
| self.object_history_cache.setdefault(obj_id, {})['publishedLocations'] = obj.chain_data.publishedLocations | ||
| self.object_history_cache.setdefault(obj_id, {})['last_seen'] = obj.sceneLoc | ||
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| objects.append(obj) | ||
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| Original file line number | Diff line number | Diff line change |
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@@ -309,8 +309,13 @@ sensors-send-events: # NEX-T10456 | |
| $(eval override BASE_IMAGE := $(IMAGE)-controller-test) | ||
| $(eval OLDSECRETSDIR := $(SECRETSDIR)) | ||
| $(eval SECRETSDIR := $(PWD)/manager/secrets) | ||
| $(if $(ANALYTICS),\ | ||
| $(eval COMPOSE_FILES := $(COMPOSE)/dlstreamer/broker.yml:$(COMPOSE)/ntp.yml:$(COMPOSE)/pgserver.yml:$(COMPOSE)/tracker.yml:$(COMPOSE)/controller_analytics.yml:$(COMPOSE)/web.yml) \ | ||
| $(eval SERVICES := 'pgserver web tracker controller-analytics'),\ | ||
| $(eval COMPOSE_FILES := $(COMPOSE)/dlstreamer/broker.yml:$(COMPOSE)/ntp.yml:$(COMPOSE)/pgserver.yml:$(COMPOSE)/scene.yml:$(COMPOSE)/web.yml) \ | ||
| $(eval SERVICES := 'pgserver web scene')\ | ||
| ) | ||
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There was a problem hiding this comment. Make’s |
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| $(call common-recipe, $(COMPOSE_FILES), tests/functional/tc_sensors_send_mqtt_messages.py, $(SERVICES), true, /run/secrets/controller.auth) | ||
| $(eval SECRETSDIR := $(OLDSECRETSDIR)) | ||
| $(eval override BASE_IMAGE := $(IMAGE_OLD)) | ||
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| @@ -0,0 +1,47 @@ | ||
| # SPDX-FileCopyrightText: (C) 2025 - 2026 Intel Corporation | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
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| networks: | ||
| scenescape-test: | ||
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| secrets: | ||
| root-cert: | ||
| file: ${SECRETSDIR}/certs/scenescape-ca.pem | ||
| django: | ||
| file: ${SECRETSDIR}/django | ||
| controller.auth: | ||
| environment: CONTROLLER_AUTH | ||
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| services: | ||
| controller-analytics: | ||
| image: scenescape-controller:${VERSION:-latest} | ||
| init: true | ||
| networks: | ||
| scenescape-test: | ||
| depends_on: | ||
| web: | ||
| condition: service_healthy | ||
| broker: | ||
| condition: service_started | ||
| ntpserv: | ||
| condition: service_started | ||
| environment: | ||
| VISIBILITY_TOPIC: ${VISIBILITY:-regulated} | ||
| CONTROLLER_ENABLE_ANALYTICS_ONLY: "true" | ||
| command: --restauth /run/secrets/controller.auth | ||
| --brokerauth /run/secrets/controller.auth | ||
| --broker broker.scenescape.intel.com | ||
| --ntp ntpserv | ||
| --visibility_topic "$VISIBILITY_TOPIC" | ||
| volumes: | ||
| - vol-media:/home/scenescape/SceneScape/media | ||
| - ./controller/config/tracker-config.json:/home/scenescape/SceneScape/tracker-config.json | ||
| secrets: | ||
| - source: root-cert | ||
| target: certs/scenescape-ca.pem | ||
| - django | ||
| - controller.auth | ||
| restart: on-failure | ||
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| volumes: | ||
| vol-media: |
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| Original file line number | Diff line number | Diff line change | ||||
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| @@ -0,0 +1,62 @@ | ||||||
| # SPDX-FileCopyrightText: (C) 2025 - 2026 Intel Corporation | ||||||
| # SPDX-License-Identifier: Apache-2.0 | ||||||
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| networks: | ||||||
| scenescape-test: | ||||||
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| secrets: | ||||||
| root-cert: | ||||||
| file: ${SECRETSDIR}/certs/scenescape-ca.pem | ||||||
| django: | ||||||
| file: ${SECRETSDIR}/django | ||||||
| controller-auth-file: | ||||||
| file: manager/secrets/controller.auth | ||||||
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Suggested change
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| services: | ||||||
| tracker: | ||||||
| image: scenescape-tracker:${VERSION:-latest} | ||||||
| networks: | ||||||
| scenescape-test: | ||||||
| aliases: | ||||||
| - tracker.scenescape.intel.com | ||||||
| user: "10001:10001" | ||||||
| depends_on: | ||||||
| broker: | ||||||
| condition: service_started | ||||||
| web: | ||||||
| condition: service_healthy | ||||||
| environment: | ||||||
| - TRACKER_LOG_LEVEL=info | ||||||
| - TRACKER_MQTT_HOST=broker.scenescape.intel.com | ||||||
| - TRACKER_MQTT_PORT=1883 | ||||||
| - TRACKER_MQTT_INSECURE=false | ||||||
| - TRACKER_MQTT_TLS_CA_CERT=/run/secrets/certs/scenescape-ca.pem | ||||||
| - TRACKER_MQTT_TLS_VERIFY_SERVER=true | ||||||
| - TRACKER_MANAGER_URL=https://web.scenescape.intel.com | ||||||
| - TRACKER_MANAGER_AUTH_PATH=/run/secrets/controller.auth | ||||||
| - TRACKER_MANAGER_CA_CERT_PATH=/run/secrets/certs/scenescape-ca.pem | ||||||
| - TRACKER_SCENES_SOURCE=api | ||||||
| # Override host proxy settings - Paho MQTT dont respect no_proxy var, so as a WA | ||||||
| # tracker code detects empty vars and unsets them (see proxy_utils.cpp clearEmptyProxyEnvVars) | ||||||
| - http_proxy= | ||||||
| - https_proxy= | ||||||
| - HTTP_PROXY= | ||||||
| - HTTPS_PROXY= | ||||||
| secrets: | ||||||
| - source: root-cert | ||||||
| target: certs/scenescape-ca.pem | ||||||
| - source: controller-auth-file | ||||||
| target: /run/secrets/controller.auth | ||||||
| read_only: true | ||||||
| cap_drop: | ||||||
| - ALL | ||||||
| security_opt: | ||||||
| - no-new-privileges:true | ||||||
| # Exit 0: graceful stop or non-retryable error (bad auth) — stay stopped | ||||||
| # Exit 1: retryable error (broker unavailable) — restart | ||||||
| # Exit 99: scene update received — restart to reload config | ||||||
| restart: on-failure | ||||||
| mem_limit: ${TRACKER_MEM_LIMIT:-512m} | ||||||
| # Scale: ~1 CPU per 100 tracked objects. Increase TRACKER_CPUS for larger deployments. | ||||||
| cpus: ${TRACKER_CPUS:-2.0} | ||||||
| pids_limit: 1000 | ||||||
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