nvdstracker.h

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/*
 * Copyright (c) 2019, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA Corporation and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA Corporation is strictly prohibited.
 *
 */

#ifndef _NVMOTRACKER_H_
#define _NVMOTRACKER_H_

#include <stdint.h>
#include <time.h>

#include "nvbufsurface.h"

#ifdef __cplusplus
extern "C"
{
#endif

#define NVMOT_MAX_TRANSFORMS 4

typedef uint64_t NvMOTStreamId;

#define NVMOTCOMP_GPU     0x01
#define NVMOTCOMP_CPU     0x02
#define NVMOTCOMP_PVA     0x04
#define NVMOTCOMP_ANY     0xff
#define NVMOTCOMP_DEFAULT NVMOTCOMP_ANY
typedef uint8_t NvMOTCompute;

typedef struct _NvMOTPerTransformBatchConfig
{
    NvBufSurfaceMemType bufferType;    
    uint32_t maxWidth;                 
    uint32_t maxHeight;                
    uint32_t maxPitch;                 
    uint32_t maxSize;                  
    uint32_t colorFormat;              
} NvMOTPerTransformBatchConfig;


typedef struct _NvMOTMiscConfig
{
    uint32_t gpuId;            
    uint32_t maxObjPerStream;  
    uint32_t maxObjPerBatch;   
    typedef void (*logMsg) (int logLevel, const char * format, ...);  
} NvMOTMiscConfig;

typedef struct _NvMOTConfig
{
    NvMOTCompute computeConfig;         
    uint32_t maxStreams;                
    uint8_t numTransforms;              
    NvMOTPerTransformBatchConfig *perTransformBatchConfig; 
    NvMOTMiscConfig miscConfig;         
    uint16_t customConfigFilePathSize;  
    char* customConfigFilePath;         
} NvMOTConfig;

typedef enum
{
    NvMOTConfigStatus_OK,
    NvMOTConfigStatus_Error,
    NvMOTConfigStatus_Invalid,
    NvMOTConfigStatus_Unsupported
} NvMOTConfigStatus;

typedef struct _NvMOTConfigResponse
{
    NvMOTConfigStatus summaryStatus; 
    NvMOTConfigStatus computeStatus; 
    NvMOTConfigStatus transformBatchStatus; 
    NvMOTConfigStatus miscConfigStatus;    
    NvMOTConfigStatus customConfigStatus;  
} NvMOTConfigResponse;

typedef enum
{
    NvMOTStatus_OK,
    NvMOTStatus_Error,
    NvMOTStatus_Invalid_Path
} NvMOTStatus;

typedef struct _NvMOTRect
{
    int x;           
    int y;           
    int width;       
    int height;      
} NvMOTRect;

typedef struct _NvMOTObjToTrack
{
    uint16_t classId;     
    NvMOTRect bbox;       
    float confidence;     
    bool doTracking;      
    void *pPreservedData; 
} NvMOTObjToTrack;

typedef struct _NvMOTObjToTrackList
{
    bool detectionDone;     
    NvMOTObjToTrack* list;  
    uint32_t numAllocated;  
    uint32_t numFilled;     
} NvMOTObjToTrackList;

typedef struct _NvMOTFrame
{
    NvMOTStreamId streamID;    
    uint32_t frameNum;    
    time_t timeStamp;     
    bool timeStampValid;  
    bool doTracking;      
    bool reset;           
    uint8_t numBuffers;           
    NvBufSurfaceParams** bufferList; 
    NvMOTObjToTrackList objectsIn;  
} NvMOTFrame;

typedef struct _NvMOTTrackedObj
{
    uint16_t classId;     
    uint64_t trackingId;  
    NvMOTRect bbox;       
    float confidence;     
    uint32_t age;         
    NvMOTObjToTrack *associatedObjectIn; 
    uint8_t reserved[128]; 
} NvMOTTrackedObj;

typedef struct _NvMOTTrackedObjList 
{
    NvMOTStreamId streamID;      
    uint32_t frameNum;    
    bool valid;             
    NvMOTTrackedObj* list;  
    uint32_t numAllocated;  
    uint32_t numFilled;     
} NvMOTTrackedObjList;

typedef struct _NvMOTTrackedObjBatch
{
    NvMOTTrackedObjList *list;  
    uint32_t numAllocated;  
    uint32_t numFilled;     
} NvMOTTrackedObjBatch;

typedef struct _NvMOTProcessParams
{
    uint32_t numFrames;            
    NvMOTFrame *frameList;     
} NvMOTProcessParams;

typedef struct _NvMOTQuery
{
    NvMOTCompute computeConfig;         
    uint8_t numTransforms;              
    NvBufSurfaceColorFormat colorFormats[NVMOT_MAX_TRANSFORMS]; 
    NvBufSurfaceMemType memType;        
    bool supportBatchProcessing;        
} NvMOTQuery;

struct NvMOTContext;
typedef struct NvMOTContext* NvMOTContextHandle;

NvMOTStatus NvMOT_Init(NvMOTConfig *pConfigIn,
                       NvMOTContextHandle *pContextHandle,
                       NvMOTConfigResponse *pConfigResponse);

void NvMOT_DeInit(NvMOTContextHandle contextHandle);

NvMOTStatus NvMOT_Process(NvMOTContextHandle contextHandle,
                          NvMOTProcessParams *pParams,
                          NvMOTTrackedObjBatch *pTrackedObjectsBatch);

NvMOTStatus NvMOT_Query(uint16_t customConfigFilePathSize, char* pCustomConfigFilePath, NvMOTQuery *pQuery);


void NvMOT_RemoveStreams(NvMOTContextHandle contextHandle, NvMOTStreamId streamIdMask);
 // end of API group

#ifdef __cplusplus
}
#endif

#endif