Tracker service v0.3.2: robot vision integration

Author: Józef Daniecki

Makefile

@@ -392,14 +392,6 @@ run_basic_acceptance_tests: setup_tests
 	$(MAKE) --trace -C tests basic-acceptance-tests -j 1 SUPASS=$(SUPASS) || (echo "Basic acceptance tests failed" && exit 1)
 	@echo "DONE ==> Running basic acceptance tests"
 
-.PHONY: run_stability_tests
-run_stability_tests: setup_tests
-	$(MAKE) $(DLSTREAMER_SAMPLE_VIDEOS);
-	@echo "Running stability tests..."
-	$(eval HOURS ?= 24)
-	$(MAKE) --trace -C tests system-stability -j 1 SUPASS=$(SUPASS) HOURS=$(HOURS) SECRETSDIR=$(CURDIR)/manager/secrets || (echo "Stability tests failed" && exit 1)
-	@echo "DONE ==> Running stability tests"
-
 # Temp K8s BAT target
 .PHONY: run_basic_acceptance_tests_k8s
 run_basic_acceptance_tests_k8s: setup_tests

docs/design/tracker-service.md

@@ -114,7 +114,7 @@ See full schema: [`scene-data.schema.json`](../../tracker/schema/scene-data.sche
   "timestamp": "2026-01-20T10:05:01.590Z",
   "objects": [
     {
-      "id": "8cce2bc7-51fc-4a6e-8c5d-a73ac72d3eb2",
+      "id": 42,
       "category": "person",
       "translation": [-0.33, 2.48, 0.0],
       "velocity": [-0.04, 0.2, 0.0],

tests/Makefile

@@ -115,7 +115,6 @@ randomly-failing-tests:
 	persistence \
 	scenes-summary \
 	3d-scene-control-panel \
-	auto-calibration-ui \
 
 # Not sorted alphabetically on purpose
 basic-acceptance-tests: \
@@ -197,6 +196,7 @@ ui-tests:
 _ui-tests: \
   3d-camera-control-panel \
   add-delete-3d-object \
+	auto-calibration-ui \
   bounding-box \
   calibrate-all-sensor-types \
   camera-perspective \
@@ -263,7 +263,7 @@ build-time: # NEX-T12520
 
 system-stability: # NEX-T10411
 	$(eval HOURS ?= 24)
-	$(call common-recipe, $(COMPOSE)/dlstreamer/broker.yml:$(COMPOSE)/ntp.yml:$(COMPOSE)/pgserver.yml:$(COMPOSE)/dlstreamer/retail_video.yml:$(COMPOSE)/scene.yml:$(COMPOSE)/web.yml:$(COMPOSE)/cams.yml, tests/system/stability/tc_sscape_stability.py --hours=$(HOURS),'pgserver web scene',true)
+	$(call common-recipe, $(COMPOSE)/dlstreamer/broker.yml:$(COMPOSE)/ntp.yml:$(COMPOSE)/pgserver.yml:$(COMPOSE)/dlstreamer/retail_video.yml:$(COMPOSE)/scene.yml:$(COMPOSE)/web.yml, tests/system/stability/tc_sscape_stability.py --hours=$(HOURS),'pgserver web scene',true)
 
 python-indent-check: # NEX-T10448
 	$(eval LOGFILE=$(TEST_DATA)/code_check/$@-$(shell date -u +"%F-%T").log)

tracker/.vscode/launch.json

@@ -21,7 +21,14 @@
             ],
             "sourceFileMap": {
                 "/scenescape/tracker": "${workspaceFolder}"
-            }
+            },
+            "environment": [
+                {"name": "http_proxy", "value": ""},
+                {"name": "https_proxy", "value": ""},
+                {"name": "HTTP_PROXY", "value": ""},
+                {"name": "HTTPS_PROXY", "value": ""},
+                {"name": "TRACKER_LOG_LEVEL", "value": "debug"},                
+            ]
         },
         {
             "name": "Tracker: Debug native",
@@ -35,6 +42,16 @@
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}",
             "envFile": "${workspaceFolder}/build-debug/debug.env",
+            "environment": [
+                {"name": "http_proxy", "value": ""},
+                {"name": "https_proxy", "value": ""},
+                {"name": "HTTP_PROXY", "value": ""},
+                {"name": "HTTPS_PROXY", "value": ""},
+                {"name": "TRACKER_LOG_LEVEL", "value": "debug"},
+                {"name": "TRACKER_MQTT_INSECURE", "value": "false"},
+                {"name": "TRACKER_MQTT_TLS_CA_CERT", "value": "${workspaceFolder}/../manager/secrets/certs/scenescape-ca.pem"},
+                {"name": "TRACKER_MQTT_TLS_VERIFY_SERVER", "value": "true"}
+            ],
             "externalConsole": false,
             "MIMode": "gdb",
             "miDebuggerPath": "/usr/bin/gdb",

tracker/CMakeLists.txt

@@ -70,6 +70,7 @@ set(PROJECT_SOURCE_LIST
   ${CMAKE_CURRENT_SOURCE_DIR}/src/cli.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/config_loader.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/scene_loader.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/coordinate_transformer.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_server.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_command.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/mqtt_client.cpp

tracker/Makefile

@@ -176,18 +176,34 @@ build-relwithdebinfo: dependencies-relwithdebinfo
 TRACKER_SCHEMA_PATH ?= $(CURDIR)/schema/config.schema.json
 TRACKER_CONFIG_PATH ?= $(CURDIR)/config/tracker.json
 
-# MQTT broker connection (auto-detect from test broker, fallback to 1883)
-export TRACKER_MQTT_HOST ?= localhost
-export TRACKER_MQTT_PORT ?= $(shell cd test/service && docker compose port broker 1883 2>/dev/null | cut -d: -f2 || echo 1883)
+# MQTT broker connection - preconfigured for SceneScape demo (docker compose up)
+# These variables are exported only in run/run-debug targets to avoid polluting test environment
+TRACKER_MQTT_HOST ?= localhost
+TRACKER_MQTT_PORT ?= $(shell cd test/service && docker compose port broker 1883 2>/dev/null | cut -d: -f2 || echo 1883)
+TRACKER_MQTT_INSECURE ?= false
 
-# Export empty proxy vars - Paho MQTT library fails with proxy env vars,
+# TLS CA certificate path (host path for native runs, container path set in tracker.json)
+TRACKER_TLS_CA_CERT_HOST ?= $(CURDIR)/../manager/secrets/certs/scenescape-ca.pem
+TRACKER_MQTT_TLS_CA_CERT ?= $(TRACKER_TLS_CA_CERT_HOST)
+
+# For insecure test broker: make run TRACKER_MQTT_INSECURE=true
+
+# Export MQTT env vars and empty proxy vars - Paho MQTT library fails with proxy env vars,
 # tracker code detects empty vars and unsets them (see mqtt_client.cpp)
 run: build
-	export http_proxy= https_proxy= HTTP_PROXY= HTTPS_PROXY= && \
+	export TRACKER_MQTT_HOST="$(TRACKER_MQTT_HOST)" \
+		TRACKER_MQTT_PORT="$(TRACKER_MQTT_PORT)" \
+		TRACKER_MQTT_INSECURE="$(TRACKER_MQTT_INSECURE)" \
+		TRACKER_MQTT_TLS_CA_CERT="$(TRACKER_MQTT_TLS_CA_CERT)" \
+		http_proxy= https_proxy= HTTP_PROXY= HTTPS_PROXY= && \
 		. build/conanrun.sh && ./build/$(NAME) --config $(TRACKER_CONFIG_PATH) --schema $(TRACKER_SCHEMA_PATH)
 
 run-debug: build-debug
-	export http_proxy= https_proxy= HTTP_PROXY= HTTPS_PROXY= && \
+	export TRACKER_MQTT_HOST="$(TRACKER_MQTT_HOST)" \
+		TRACKER_MQTT_PORT="$(TRACKER_MQTT_PORT)" \
+		TRACKER_MQTT_INSECURE="$(TRACKER_MQTT_INSECURE)" \
+		TRACKER_MQTT_TLS_CA_CERT="$(TRACKER_MQTT_TLS_CA_CERT)" \
+		http_proxy= https_proxy= HTTP_PROXY= HTTPS_PROXY= && \
 		. build-debug/conanrun.sh && ./build-debug/$(NAME) --config $(TRACKER_CONFIG_PATH) --schema $(TRACKER_SCHEMA_PATH)
 
 # Profile with perf using optimized build with debug symbols.
@@ -319,8 +335,7 @@ test-service: build-image
 	@test/service/.venv/bin/pip install -q --upgrade pip
 	@test/service/.venv/bin/pip install -q -r test/service/requirements.txt
 	@echo "Running service tests..."
-	unset TRACKER_MQTT_PORT TRACKER_MQTT_HOST TRACKER_MQTT_INSECURE && \
-		cd test/service && .venv/bin/pytest -v --tb=short
+	cd test/service && .venv/bin/pytest -v --tb=short
 
 #####################################################################
 # Docker build targets
@@ -339,17 +354,21 @@ build-image-debug:
 build-image-relwithdebinfo:
 	$(MAKE) build-image TARGET=runtime BUILD_TYPE=RelWithDebInfo IMAGE=scenescape-tracker-relwithdebinfo
 
-# Use host network to reach broker on localhost; empty proxy vars for Paho workaround
+# Use host network to reach broker; empty proxy vars for Paho workaround
+# Container uses secure defaults from tracker.json (TLS to broker.scenescape.intel.com)
 run-image: build-image
 	docker run --rm -it --network=host \
 		-e http_proxy= -e https_proxy= -e HTTP_PROXY= -e HTTPS_PROXY= \
+		-v $(TRACKER_TLS_CA_CERT_HOST):/run/secrets/certs/scenescape-ca.pem:ro \
 		$(IMAGE):$(VERSION)
 
 run-image-debug: build-image-debug
 	-docker stop tracker-debug 2>/dev/null || true
 	-docker rm tracker-debug 2>/dev/null || true
 	docker run --rm -d --name tracker-debug --init -p 2345:2345 \
 		--cap-add=SYS_PTRACE --security-opt seccomp=unconfined \
+		-e http_proxy= -e https_proxy= -e HTTP_PROXY= -e HTTPS_PROXY= \
+		-v $(TRACKER_TLS_CA_CERT_HOST):/run/secrets/certs/scenescape-ca.pem:ro \
 		scenescape-tracker-debug:$(VERSION)
 	@echo "Debug container started. Attach debugger to localhost:2345"
 

tracker/README.md

@@ -44,14 +44,38 @@ make build-relwithdebinfo
 
 #### Run
 
+The run targets are preconfigured to work with SceneScape demo. Start SceneScape first:
+
+```bash
+# From repository root
+docker compose up -d
+```
+
+Then run the tracker:
+
 ```bash
-# Run with default settings
+# Run release build
 make run
 
-# Debug build
+# Run debug build
 make run-debug
 ```
 
+**Environment overrides:** The following variables can be overridden:
+
+| Variable                   | Default                                      | Description                   |
+| -------------------------- | -------------------------------------------- | ----------------------------- |
+| `TRACKER_MQTT_HOST`        | `localhost`                                  | MQTT broker hostname          |
+| `TRACKER_MQTT_PORT`        | `1883`                                       | MQTT broker port              |
+| `TRACKER_MQTT_INSECURE`    | `false`                                      | Disable TLS (for test broker) |
+| `TRACKER_MQTT_TLS_CA_CERT` | `../manager/secrets/certs/scenescape-ca.pem` | CA certificate path           |
+
+Example with insecure test broker:
+
+```bash
+make run TRACKER_MQTT_INSECURE=true
+```
+
 **Manual execution:** If not using Make targets, you must source the Conan environment
 first. Conan-managed libraries (e.g., OpenCV) are not installed system-wide, so
 `LD_LIBRARY_PATH` must be set:

tracker/config/tracker.json

@@ -1,9 +1,13 @@
 {
   "infrastructure": {
     "mqtt": {
-      "host": "localhost",
+      "host": "broker.scenescape.intel.com",
       "port": 1883,
-      "insecure": true
+      "insecure": false,
+      "tls": {
+        "ca_cert_path": "/run/secrets/certs/scenescape-ca.pem",
+        "verify_server": true
+      }
     },
     "tracker": {
       "healthcheck": {
@@ -16,6 +20,14 @@
       "level": "info"
     }
   },
+  "tracking": {
+    "max_lag_s": 1.0,
+    "time_chunking_rate_fps": 15,
+    "max_workers": 50,
+    "max_unreliable_time_s": 1.0,
+    "non_measurement_time_dynamic_s": 0.8,
+    "non_measurement_time_static_s": 1.6
+  },
   "scenes": {
     "source": "file",
     "file_path": "scenes.json"

tracker/inc/config_loader.hpp

@@ -76,6 +76,11 @@ struct TrackingConfig {
     double max_lag_s = 1.0;          ///< Max lag for detection frames (seconds)
     int time_chunking_rate_fps = 15; ///< Chunk dispatch rate (frames per second)
     int max_workers = 50;            ///< DoS protection: max worker threads (scene+category)
+
+    // RobotVision tracker parameters
+    double max_unreliable_time_s = 1.0;          ///< Max time track can be unreliable
+    double non_measurement_time_dynamic_s = 0.8; ///< Time before dynamic track dropped
+    double non_measurement_time_static_s = 1.6;  ///< Time before static track dropped
 };
 
 /**
@@ -112,6 +117,10 @@ constexpr char INFRASTRUCTURE_MQTT_TLS_VERIFY_SERVER[] = "/infrastructure/mqtt/t
 constexpr char TRACKING_MAX_LAG_S[] = "/tracking/max_lag_s";
 constexpr char TRACKING_TIME_CHUNKING_RATE_FPS[] = "/tracking/time_chunking_rate_fps";
 constexpr char TRACKING_MAX_WORKERS[] = "/tracking/max_workers";
+constexpr char TRACKING_MAX_UNRELIABLE_TIME_S[] = "/tracking/max_unreliable_time_s";
+constexpr char TRACKING_NON_MEASUREMENT_TIME_DYNAMIC_S[] =
+    "/tracking/non_measurement_time_dynamic_s";
+constexpr char TRACKING_NON_MEASUREMENT_TIME_STATIC_S[] = "/tracking/non_measurement_time_static_s";
 
 // Scenes
 constexpr char SCENES_SOURCE[] = "/scenes/source";