improved performance

src/nodes/face_tracker_node.hpp

@@ -14,10 +14,8 @@
 // algorithm on a combined spatial (IoU) + embedding (cosine distance) cost.
 //
 // Each track accumulates a running directional mean of its ArcFace embeddings
-// (averaged then re-normalised to the unit sphere).  Once a track reaches
-// min_frames observations its mean embedding is forwarded as track_embeddings[i]
-// and track_mature[i] is set, allowing the identity matcher to use a cleaner,
-// multi-frame signal instead of the noisy single-frame embedding.
+// (averaged then re-normalised to the unit sphere), used as the embedding side
+// of the assignment cost below for more stable track continuity.
 //
 // Assignment cost (track i, detection j):
 //   cost = alpha * (1 - IoU)  +  (1-alpha) * min(cosine_dist/2, 1)
@@ -41,13 +39,11 @@ struct FaceTrackerFunc {
         , min_iou_(cfg.track_min_iou)
         , max_embed_dist_(cfg.track_max_embed_dist)
         , max_missing_(cfg.track_max_frames_missing)
-        , min_frames_(cfg.track_min_frames)
     {
         std::cerr << "[face_tracker] alpha=" << alpha_
                   << "  min_iou=" << min_iou_
                   << "  max_embed_dist=" << max_embed_dist_
-                  << "  max_missing=" << max_missing_
-                  << "  min_frames=" << min_frames_ << "\n";
+                  << "  max_missing=" << max_missing_ << "\n";
     }
 
     TrackedSceneFrame operator()(EmbeddedSceneFrame ef) {
@@ -102,8 +98,6 @@ struct FaceTrackerFunc {
         out.crops            = ef.crops;
         out.embeddings       = ef.embeddings;
         out.track_ids.assign(n_det, -1);
-        out.track_embeddings = ef.embeddings;  // default: per-frame embedding
-        out.track_mature.assign(n_det, false);
 
         std::vector<bool> det_matched(n_det, false);
 
@@ -122,9 +116,7 @@ struct FaceTrackerFunc {
             ts.frames_missing = 0;
             det_matched[di] = true;
 
-            out.track_ids[di]        = tids[ti];
-            out.track_embeddings[di] = ts.mean_emb;
-            out.track_mature[di]     = (ts.n_frames >= min_frames_);
+            out.track_ids[di] = tids[ti];
         }
 
         // Create new tracks for unmatched detections
@@ -137,7 +129,6 @@ struct FaceTrackerFunc {
             ts.n_frames = 1;
             tracks_[tid] = ts;
             out.track_ids[di] = tid;
-            // track_embeddings[di] already initialised to per-frame embedding
         }
 
         // Expire stale tracks
@@ -239,5 +230,4 @@ private:
     float min_iou_;
     float max_embed_dist_;
     int   max_missing_;
-    int   min_frames_;
 };