fix(controller): preserve UUID for static objects after occlusion (#1152)#1155
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Mar 12, 2026
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@saratpoluri please review this change, it may impact ReID functionality.
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Pull request overview
This PR fixes object identity continuity in the controller by preserving UUID/GID mappings for static objects across short occlusions, leveraging suspended/unreliable tracks from the underlying C++ tracker.
Changes:
- Expose suspended and unreliable track lists from
MultipleObjectTrackerto Python bindings. - Update controller tracking flow to prune UUID mappings based on all active/suspended C++ tracks (not only reliable ones).
- Attempt to reuse an existing GID mapping for a reactivated
rv_idinstead of assigning a new UUID.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 7 comments.
| File | Description |
|---|---|
controller/src/robot_vision/python/src/robot_vision/extensions/tracking.cpp |
Adds Python bindings for MultipleObjectTracker.get_suspended_tracks() and .get_unreliable_tracks(). |
controller/src/robot_vision/include/rv/tracking/MultipleObjectTracker.hpp |
Adds corresponding C++ accessors forwarding to TrackManager. |
controller/src/controller/uuid_manager.py |
Stores an assigned UUID/GID into active_ids for new tracker IDs (intended to preserve identity). |
controller/src/controller/ilabs_tracking.py |
Uses existing UUID/GID mapping for reactivated tracks and prunes mappings using reliable+unreliable+suspended track sets. |
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| # Include ALL active C++ tracks to preserve UUID mappings | ||
| all_active_tracks = (self.tracker.get_reliable_tracks() + | ||
| self.tracker.get_unreliable_tracks() + | ||
| self.tracker.get_suspended_tracks()) | ||
| tracked_objects = self.tracker.get_reliable_tracks() | ||
| self.uuid_manager.pruneInactiveTracks(tracked_objects) | ||
| self.uuid_manager.pruneInactiveTracks(all_active_tracks) |
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| # Store the assigned UUID in active_ids | ||
| 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] |
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| # Check if UUID manager already has a mapping for this rv_id | ||
| 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) |
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| sscape_object.setGID(uuid) | ||
| else: | ||
| sscape_object.setGID(existing_gid) |
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| # Include ALL active C++ tracks to preserve UUID mappings | ||
| all_active_tracks = (self.tracker.get_reliable_tracks() + | ||
| self.tracker.get_unreliable_tracks() + | ||
| self.tracker.get_suspended_tracks()) | ||
| tracked_objects = self.tracker.get_reliable_tracks() |
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| # Include ALL active C++ tracks to preserve UUID mappings | ||
| all_active_tracks = (self.tracker.get_reliable_tracks() + | ||
| self.tracker.get_unreliable_tracks() + | ||
| self.tracker.get_suspended_tracks()) | ||
| tracked_objects = self.tracker.get_reliable_tracks() | ||
| self.uuid_manager.pruneInactiveTracks(tracked_objects) | ||
| self.uuid_manager.pruneInactiveTracks(all_active_tracks) |
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| # Include ALL active C++ tracks to preserve UUID mappings | ||
| all_active_tracks = (self.tracker.get_reliable_tracks() + | ||
| self.tracker.get_unreliable_tracks() + | ||
| self.tracker.get_suspended_tracks()) | ||
| tracked_objects = self.tracker.get_reliable_tracks() |
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📝 Description
When a static object becomes temporarily occluded and later reappears in the scene, the controller assigns a new UUID instead of preserving the original one. This breaks object identity continuity for static objects across short occlusions.
This change updates the controller logic to ensure that static objects retain their original UUID when reactivated from suspended tracks.
Fixes #1152
🔍 Behavior Before / After
Before
After
✨ Type of Change
🧪 Testing Scenarios
Tested locally by simulating occlusion scenarios where static objects temporarily disappear and later reappear. Verified that the original UUID is preserved when the object is reactivated.
✅ Checklist