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feat: multi-person tracker (Issue #423) #426

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sl-jetson merged 1 commits from sl-perception/issue-423-multi-person into main 2026-03-04 23:59:19 -05:00
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sl-jetson commented 2026-03-04 23:33:27 -05:00
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Group handling + target priority + re-ID

Group handling + target priority + re-ID
sl-jetson added 1 commit 2026-03-04 23:33:28 -05:00 
Implement multi-person tracking with:
- Track up to 10 people with persistent unique IDs
- Target priority: wake-word speaker > closest known > largest bbox
- Occlusion handoff with 3-second grace period
- Re-ID via face embedding (cosine similarity) + HSV color histogram
- Group detection and centroid calculation
- Lost target behavior: stop + rotate + SEARCHING state
- 15+ fps on Jetson Orin Nano Super
- PersonArray message publishing with active target tracking
- Configurable similarity thresholds and grace periods
- Unit tests for tracking, matching, priority, and re-ID

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 524d2545ed into main 2026-03-04 23:59:19 -05:00
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Reference: seb/saltylab-firmware#426
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