Tracker service v0.3.2: robot vision integration

[jdanieck]

📝 Description

Replaces the stub tracking in TrackingWorker with Intel RobotVision's Kalman filter library, adds batch coordinate transformation, and hardens the deployment configuration.

Key Changes

RobotVision Integration (tracking_worker.cpp):

• Replaced stub_tracking() with rv::tracking::MultipleObjectTracker (Kalman filter + Hungarian matching, CV/CA/CTRV motion models)
• New run_tracking() → transform_detections() → convert_tracks() pipeline
• Empty chunks now advance tracker time for track aging; heartbeats always published

New Modules:

• CoordinateTransformer — batch pixel-to-world via cv::undistortPoints + OpenMP ray-plane intersection (matches Python controller's transform.py)
• IdMap — maps RobotVision int32_t track IDs to persistent UUID v4 strings at the output boundary
• uuid.hpp — thread-safe UUID v4 generator (thread_local mt19937_64)
• time_utils.hpp/cpp — extracted parseTimestamp/formatTimestamp from MessageHandler into standalone module; now requires trailing Z (UTC)

Configuration:

• Added max_unreliable_time_s, non_measurement_time_dynamic_s, non_measurement_time_static_s to TrackingConfig + JSON schema + env var overrides
• Default config switched to TLS (broker.scenescape.intel.com, insecure: false, CA cert at /run/secrets/certs/)
• Added tracking section to tracker.json with all pipeline parameters

Deployment Hardening:

• Docker Compose: added read_only: true, cap_drop: ALL, no-new-privileges:true for tracker service
• Service test compose also hardened

Developer Experience:

• VS Code launch.json: added proxy and TLS environment variables for both native and container debug
• Makefile run/run-debug: export TRACKER_MQTT_* and TLS vars; mount CA cert for run-image/run-image-debug
• README updated with SceneScape demo workflow and env override table

Testing:

• New: coordinate_transformer_test.cpp (position, size, batch, horizon culling), id_map_test.cpp, uuid_test.cpp, time_utils_test.cpp (valid/invalid/round-trip)
• Updated: tracking_worker_test.cpp (RobotVision multi-detection behavior), message_handler_test.cpp (lag detection, empty batch buffering), time_chunk_scheduler_test.cpp (camera intrinsics in fixtures)
• New service test: test_tracking_produces_reliable_tracks — sends 20 detections, validates UUID v4 track output
• Python reference data generator + transformation_reference.json for cross-validation with scipy/numpy
• Schema validation now uses FormatChecker() to enforce UUID format

Dependencies:

• Added stduuid/1.2.3 (Conan), OpenMP (system)

Schema:

• scene-data.schema.json: track ID now "format": "uuid" with updated description

✨ Type of Change

• 🚀 New feature – RobotVision tracking integration with coordinate transformation
• 📚 Documentation update
• 🧪 Tests

🧪 Testing Scenarios

• ✅ Tested manually with SceneScape demo
• 🤖 Unit tests pass (including new coordinate transform, ID map, UUID, time utils tests)
• 🤖 Service tests pass (connection resilience, mTLS, tracking reliability, graceful shutdown)

✅ Checklist

• 🔍 PR title is clear and descriptive
• 💬 Code is commented, especially CoordinateTransformer pipeline
• 📄 Updated implementation documentation
• ✅ Added comprehensive unit and service tests

✨ Type of Change

• 🚀 New feature – Non-breaking change which adds functionality
• 💥 Breaking change – Track ID changed from string to integer
• 📚 Documentation update
• 🧪 Tests

🧪 Testing Scenarios

• ✅ Tested manually with SceneScape demo
• 🤖 Ran automated unit tests (226 tests pass)
• 🤖 Ran service tests with MQTT broker

✅ Checklist

• 🔍 PR title is clear and descriptive
• 💬 Code is commented, especially CoordinateTransformer pipeline
• 📄 Updated tracker-service.md design documentation
• ✅ Added comprehensive unit and service tests

[Copilot]

Pull request overview

This PR integrates RobotVision's Kalman filter tracking library into the tracker service, replacing the previous stub tracking implementation. The change upgrades track IDs from UUID strings to integer IDs produced by RobotVision's tracking system.

Changes:

• Integrated RobotVision TrackTracker with Kalman filter for multi-object tracking
• Changed track ID type from string to int32_t to match RobotVision's output
• Added camera calibration support for pixel-to-world coordinate transformation
• Updated tests to reflect real tracking behavior (tracks require multiple detections for reliability)

Reviewed changes

Copilot reviewed 11 out of 11 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
tracker/src/tracking_worker.cpp	Replaced stub tracking with RobotVision TrackTracker integration, added camera calibration handling
tracker/inc/tracking_worker.hpp	Added RobotVision headers and member variables for tracker and camera parameters
tracker/inc/tracking_types.hpp	Changed Track::id from string to int32_t
tracker/src/track_publisher.cpp	Updated JSON serialization to use SetInt() instead of SetString() for track ID
tracker/src/time_chunk_scheduler.cpp	Refactored worker creation to build camera map and pass tracking config
tracker/schema/scene-data.schema.json	Updated schema to enforce integer track IDs with minimum 0
tracker/test/unit/tracking_worker_test.cpp	Added helper functions, new tests for edge cases, updated expectations for RobotVision behavior
tracker/test/unit/track_publisher_test.cpp	Updated test data to use integer track IDs
tracker/test/unit/time_chunk_scheduler_test.cpp	Added camera intrinsics/distortion to test fixtures
tracker/test/unit/message_handler_test.cpp	Added test for lagged message handling
tracker/test/service/test_mqtt.py	Added detection sequence helper and new tracking reliability test

Comments suppressed due to low confidence (5)

tracker/test/service/test_mqtt.py:1

• Test code contains timestamps in January 2026, which is in the future relative to the current date (February 3, 2026). Consider using timestamps that are clearly test data or relative to the current time to avoid confusion.

#!/usr/bin/env python3

tracker/test/service/test_mqtt.py:1

• Test code contains timestamps in January 2026, which is in the future relative to the current date (February 3, 2026). Consider using timestamps that are clearly test data or relative to the current time to avoid confusion.

#!/usr/bin/env python3

tracker/test/service/test_mqtt.py:1

• Test code contains timestamps in January 2026, which is in the future relative to the current date (February 3, 2026). Consider using timestamps that are clearly test data or relative to the current time to avoid confusion.

#!/usr/bin/env python3

tracker/test/service/test_mqtt.py:1

• Test code contains timestamps in January 2026, which is in the future relative to the current date (February 3, 2026). Consider using timestamps that are clearly test data or relative to the current time to avoid confusion.

#!/usr/bin/env python3

tracker/test/service/test_mqtt.py:1

• Test code contains timestamps in January 2026, which is in the future relative to the current date (February 3, 2026). Consider using timestamps that are clearly test data or relative to the current time to avoid confusion.

#!/usr/bin/env python3

[Copilot]

Pull request overview

Copilot reviewed 29 out of 29 changed files in this pull request and generated 10 comments.

[Copilot]

Pull request overview

Copilot reviewed 29 out of 29 changed files in this pull request and generated 12 comments.

[Copilot]

Pull request overview

Copilot reviewed 29 out of 29 changed files in this pull request and generated 6 comments.

[tdorauintc]

Review in progress

[ltalarcz]

In review

[Copilot]

Pull request overview

Copilot reviewed 41 out of 41 changed files in this pull request and generated 4 comments.

[Copilot]

SequentialGenerator uses std::array, but this test file doesn't include <array>, which can cause a compile failure depending on transitive includes. Add #include <array> (or avoid std::array here) to make the test self-contained.

[Copilot]

This test uses M_PI, which is a non-standard extension and may be undefined on some toolchains (notably MSVC unless _USE_MATH_DEFINES is set). Prefer a portable constant like std::numbers::pi (C++20) to avoid build portability issues.

[Copilot]

The tests in this file set DetectionBatch.timestamp_iso on batches they enqueue, but don’t populate the new parsed DetectionBatch.timestamp field. Since TrackingWorker now uses batch.timestamp to advance the RobotVision tracker, these tests end up exercising tracking with a default-constructed epoch time (mismatched with timestamp_iso). Consider setting batch.timestamp (e.g., via parseTimestamp(timestamp_iso) or a helper) when building test batches.

[Copilot]

PR description mentions a breaking change where the track ID changed from string to integer, but the schema (and tests) still define id as a string (now with format: uuid). Please reconcile the PR description with the actual API (or adjust the schema/output if an integer ID is intended).

No changes outside of the tracker folder. Will not be default for another release cycle. Focused on achieving MVP results both functional and performance.