Hi @vadim.bazhin,
The only value we set from code is:
tdv::nuitrack::Nuitrack::setConfigValue("Reidentification.ToUse", "true");
here is the nuitrack.config file we use for AI Skeleton Tracking :
{
"Network": {
"ProxyUrl": ""
},
"KinectV2": {
"Color": {
"RawHeight": 1080,
"RawWidth": 1920
},
"Depth": {
"RawHeight": 424,
"RawWidth": 512
}
},
"GestureRecognition": {
"WavingEnabled": true
},
"StructureDepthProvider": {
"ColorCameraSettings": {
"CameraPosition": "back"
},
"SensorSettings": {
"DepthHeight": 480,
"DepthWidth": 640
}
},
"MovingSensor": {
"VocabFilePath": "MovingSensor/orb_vocab/orb_vocab.dbow2",
"ToUse": false
},
"Skeletonization": {
"AutoTracking": true,
"FeedbackThreshold": 0.1,
"Type": "CNN_HPE",
"CnnHPE": {
"Filter": {
"ThreshHold": {
"MaxDisplacement": 500,
"SmoothCameraJointVelocity": false,
"MinDisplacement": 20
}
}
},
"ActiveUsers": 2,
"MaxDistance": 2000
},
"DepthProviderAdapter": {
"Library": ""
},
"StateDumper": {
"Directory": "",
"ToUse": false,
"LengthInSeconds": 15
},
"CPU": {
"MaxLoad": -1.0
},
"HandTracker": {
"WristGrabDetector": {
"TrainedClassificator": "handtracker/svm_grab.xml"
},
"HandMode": "grab3d",
"HandPointerFrame": {
"DistanceBetweenFrames": 150.0,
"Width": 450.0,
"Height": 200.0
},
"GrabDetector": "WristGrabDetector",
"SkeletonSupport": true,
"SkeletonForearmTracker": {
"BottomPlane": {
"Usage": false,
"centralPoint": [
0,
-240,
677
],
"maxY": 0,
"normal": [
0,
-47,
100
]
}
},
"CoordsMode": "abs",
"CNNGrabDetector": {
"InputShape": [
96,
96,
1
],
"PathToModel": "handtracker/testout12.pb"
}
},
"CnnDetectionModule": {
"meanPixel": 128.0,
"ResizeMode": "pad",
"ToUse": false,
"InputSize": {
"width": 640,
"height": 384
},
"per_sample_mode": true,
"MinConfidence": 0.2,
"Classes": [
"bottle",
"cigarette",
"phone",
"laptop",
"bag",
"book"
],
"stdPixel": 33.0
},
"RGBMarkEstimator": {
"MarkerWidth": 105,
"MarkerHeight": 62,
"Precision": 0.5,
"DebugLevel": 1
},
"FrameDumpDepthProvider": {
"Directory": "",
"ToUse": false
},
"AstraProPerseeDepthProvider": {
"POSIX": {
"PID": "0x0501",
"VID": "0x2bc5"
},
"CameraID": 0
},
"AzureKinectDepthProviderModule": {},
"DepthProvider": {
"RotateAngle": "0",
"RGB": "Auto",
"Depth2ColorRegistration": true,
"Mirror": false
},
"CnnDetectionModel": {
"keypointsClasses": [
"human"
],
"keypointsNames": [
"head",
"left_shoulder",
"left_elbow",
"left_wrist",
"right_shoulder",
"right_elbow",
"right_wrist",
"left_hip",
"right_hip",
"left_knee",
"right_knee",
"left_ankle",
"right_ankle"
],
"InterParallelismThreads": -1,
"IntraParallelismThreads": -1,
"PathToModel": "CnnDetector/TFCnnDetector/model_description.bin"
},
"Settings": {
"Multiplexing": true,
"MapResolutionX": 480,
"ServerMAC": "",
"Autocalibration": true,
"ServerName": "",
"hfov": 1.3176,
"DepthMapSmoothing": false,
"AdvancedConnect": true,
"LatencyEvents": false,
"MapResolutionY": 640,
"Mode": "WF",
"AdvancedStreaming": true,
"SkeletonSmoothing": false,
"PredictionInterval": 0,
"IPAddress": "192.168.0.16"
},
"Segmentation": {
"BoxCutter":{
"x":"0",
"y":"0",
"z":"0",
"width":"800",
"height":"5000",
"depth":"2500",
"alpha":"0",
"beta":"-1.5"
},
"skipFrames": 0,
"ToUse": true,
"FloorMaxError": 100,
"Type": "experimental",
"ZPS": 575.816,
"median": 0,
"RotationOY": 0,
"minHumanTTL": 0,
"Pixelization": 0,
"FloorDetector": "AdaptiveFloorDetector",
"MOTION_THRESHOLD": 1,
"Background": {
"BackgroundMode": "dynamic"
},
"MAX_DISTANCE": 7000,
"RotationOX": 0,
"TOFHacks": false,
"ScaleFactor": 1.0,
"MIN_CHECK_DISTANCE": 500
},
"Filter": {
"DummyFilter": {},
"Kinematic": {
"SkeletonFile": "skeleton.xml",
"LimitsBone": "skeleton_limits.xml",
"CfgFile": "kinematic_filter.xml",
"Loader": "XMLSkeletonLoader"
},
"CombinationFilter": [
{
"DummyFilter": {}
},
{
"Kinematic": {
"SkeletonFile": "skeleton.xml",
"LimitsBone": "skeleton_limits.xml",
"CfgFile": "kinematic_filter.xml",
"Loader": "XMLSkeletonLoader"
}
}
],
"AlphaBeta": {
"Alpha": 0.5,
"Beta": 0.5
},
"Median": {
"HistorySize": 5
},
"FABRIK": {
"SkeletonFile": "FABRIKSkeleton.xml"
},
"ThreshHold": {
"MaxDisplacement": 10000,
"MinDisplacement": 20
}
},
"DynamicModules": {
"Path": "../middleware/",
"Modules": [
"NuitrackModule"
],
"WModules": [
"NuitrackWirelessModule"
]
},
"DaemonSettings": {
"NewHumanEndpoint": "localhost:8081/onNewHuman",
"LostHumanEndpoint": "localhost:8081/onLostHuman"
},
"Faces": {
"ToUse": false
},
"Realsense2Module": {
"DeviceHardwareReset": false,
"Depth": {
"ProcessWidth": 640,
"ProcessHeight": 480,
"ProcessMaxDepth": 2100
},
"FileRecord": "",
"RGB": {
"ProcessWidth": 640,
"ProcessHeight": 480
},
"AlignTo": "none"
},
"OrbbecSDKDepthProviderModule": {
"Depth": {
"ProcessWidth": 640,
"ProcessHeight": 480
},
"SoftwareFilter": false,
"RGB": {
"ProcessWidth": 640,
"ProcessHeight": 480
},
"Exposure": {
"ToUse": false
}
},
"StaticModuleLoader": [],
"OpenNIModule": {
"FileRecord": ""
},
"Orientation": {
"GlobalUp": {},
"TPose": {}
},
"RegressionSkeletonization": {
"Orientation": {
"Dummy": {}
},
"CNN_RGB": {},
"Filter": {
"CombinationFilter": [
{
"ThreshHold": {
"MaxDisplacement": 200,
"SmoothCameraJointVelocity": false,
"MinDisplacement": 15
}
},
{
"FABRIK": {
"PalmsAlignment": true,
"FixedHeight": 1700,
"HeightAlgorithm": "old",
"SkeletonFile": "FABRIKSkeleton.xml"
}
},
{
"Confidence": {
"ConfidenceThreshold": 0.5,
"CorrectHandsConfidence": true
}
}
]
},
"CNN_RGB_Depth": {
"Threshold": 0.3
},
"PoseOptimization": {
"OptimizationParams": {
"RegressionClouds": {
"EMOptimizer": {
"Tolerance": 0.005,
"Iterations": 1
},
"Solver": {
"max_num_iteration": 20,
"function_tolerance": 0.008,
"gradient_tolerance": 1e-06,
"parameter_tolerance": 0.0008
}
}
},
"Terms": {
"DepthEnergyFunction": {
"Enable": false,
"Iterations": {
"To": 2,
"From": 1
},
"Weight": 1000
},
"IntersectionEnergyFunction": {
"Enable": false,
"Iterations": {
"To": 4,
"From": 2
},
"Weight": 5000
},
"WeightsEnergyFunction": {
"Enable": false,
"Iterations": {
"To": 4,
"From": 0
},
"Weight": 1.0
},
"FieldEnergyFunction": {
"Enable": false,
"Iterations": {
"To": 4,
"From": 2
},
"Weight": 1
},
"DepthConsistencyEnergyFunction": {
"Enable": false,
"Iterations": {
"To": 4,
"From": 2
},
"Weight": 5000
},
"EnergyFunction": {
"Enable": true,
"Iterations": {
"To": 1,
"From": 0
},
"Weight": 1.0
}
},
"SkeletonFile": "poseoptimization/skeleton.xml"
},
"Type": "Regression",
"Regression": {
"Stat": "trees_stat",
"Scale": 0.5,
"MaxHeightScale": 1.4,
"UseGPU": false,
"MinHeightScale": 0.85,
"Tree": "trees.bin",
"StatBase": "regStat",
"ClassesCount": 32,
"Bodyparts": "bodyparts.xml",
"TreeNormCoef": 4000,
"MeanHeight": 1700,
"NormCoef": 4000,
"PredictType": "base"
}
},
"LicenseFile": "../license.json",
"Reidentification": {
"ToUse": false
},
"DefaultModules": {
"DepthProvider": "DepthProviderManager"
}
}