Add SOT target control and state telemetry with image dimensions#265
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jp-pino wants to merge 9 commits into
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Add SOT target control and state telemetry with image dimensions#265jp-pino wants to merge 9 commits into
jp-pino wants to merge 9 commits into
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Add SetSotTargetCtrl to control.proto for setting/clearing SOT targets. Add SotState message format with State enum (IDLE/TRACKING/LOST). Add SotStateTel to telemetry.proto for reporting tracking state. Zero-size bounding box (width=0, height=0) convention clears the target. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Add image_width and image_height fields to SotState so receivers know the frame resolution the bounding box coordinates are relative to. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Add image_width and image_height so the receiver can rescale bounding box coordinates from the app's frame to the model's actual source resolution. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
follesoe
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May 8, 2026
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Du we need a message to clear the Sot tracking?
Add CvModelInfo protobuf message with name, type, running, device, and package_id fields. Add repeated cv_models field to DroneInfo for reporting loaded computer vision models in telemetry. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
follesoe
approved these changes
May 13, 2026
Include the full list of class names the model can detect, indexed by class_id, in the DroneInfoTel telemetry. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Preferred way to clear the SOT target (stop tracking). The zero-size bounding box in SetSotTargetCtrl still works for backwards compatibility. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
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This pull request adds support for single-object tracking (SOT) to the protocol buffers used by the system. The changes introduce new messages for controlling, reporting, and telemetering the SOT state, allowing external clients to set tracking targets and receive updates on the tracking process.
Single-object tracking (SOT) support:
SetSotTargetCtrlto allow clients to set or clear the SOT target by specifying a bounding box and frame dimensions.SotStatemessage, which reports the current state of the SOT tracker, including the tracked bounding box and frame size. This includes an enum for tracker states (idle, tracking, lost, etc.).SotStateTelto periodically report the current SOT state and bounding box from the computer vision pipeline.