Tracker.h

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#ifndef DW_OBJECT_TRACKER_H__
#define DW_OBJECT_TRACKER_H__

#include <dw/object/Object.h>
#include <dw/features/Features.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>

#ifdef __cplusplus
extern "C" {
#endif


typedef struct dwObjectTrackerObject *dwObjectTrackerHandle_t;

typedef struct dwObjectFeatureTrackerParams {
    uint32_t iterationsLK;

    uint32_t windowSizeLK;

    float32_t detectorScoreThreshold;

    uint32_t pyramidLevelCount;

    dwRect maskROI;

    uint32_t maxFeatureCount;

    uint32_t historyCapacity;
} dwObjectFeatureTrackerParams;

typedef struct dwObjectTrackerParams {
    uint32_t maxFeatureCountPerBox;

    float32_t maxBoxImageScale;

    float32_t minBoxImageScale;

    float32_t confRateDetect;

    float32_t confRateTrackMax;

    float32_t confRateTrackMin;

    float32_t confThreshDiscard;

    float32_t confThreshConfirm;

    uint32_t maxNumObjects;

    dwBool enablePriorityTracking;
} dwObjectTrackerParams;

DW_API_PUBLIC
dwStatus dwObjectTracker_initDefaultParams(dwObjectFeatureTrackerParams *featureTrackerParams,
                                           dwObjectTrackerParams *objectTrackerParamsArray,
                                           uint32_t numClasses);

DW_API_PUBLIC
dwStatus dwObjectTracker_initialize(dwObjectTrackerHandle_t *obj, dwContextHandle_t ctx,
                                    const dwImageProperties *imageProperties,
                                    const dwObjectFeatureTrackerParams *featureTrackerParams,
                                    const dwObjectTrackerParams *objectTrackerParamsArray,
                                    uint32_t numClasses);

DW_API_PUBLIC
dwStatus dwObjectTracker_reset(dwObjectTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_release(dwObjectTrackerHandle_t *obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_featureTrackDeviceAsync(const dwImageCUDA *image, dwObjectTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_boxTrackHost(dwObject *trackedDetections, size_t *numTrackedDetections,
                                      const dwObject *previousDetections, size_t numPreviousDetections,
                                      uint32_t classIdx, dwObjectTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_boxTrackHostExternalFeatures(dwObject *trackedDetections,
                                                      size_t *numTrackedDetections,
                                                      const dwObject *previousDetections,
                                                      size_t numPreviousDetections,
                                                      const dwFeatureListPointers *featureList,
                                                      uint32_t maxFeatureCount,
                                                      uint32_t historyCapacity,
                                                      uint32_t currentTimeIdx,
                                                      uint32_t classIdx, dwObjectTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_setCUDAStream(cudaStream_t stream, dwObjectTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectTracker_getCUDAStream(cudaStream_t *stream, dwObjectTrackerHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_OBJECT_TRACKER_H__