nvdstracker.h

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/*
 * Copyright (c) 2019-2020, 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"
#include "nvds_tracker_meta.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;
    uint32_t maxBufSurfAddrSize;
    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 enum
{
    NvMOTBatchMode_Error = 0,
    NvMOTBatchMode_Batch = 1 << 0,
    NvMOTBatchMode_NonBatch = 1 << 1,
    NvMOTBatchMode_MaxValue = 3
} NvMOTBatchMode;

typedef struct _NvMOTRect
{
    float x;
    float y;
    float width;
    float 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;
    uint32_t srcFrameWidth;
    uint32_t srcFrameHeight;
    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;
    NvMOTBatchMode batchMode;
    bool supportPastFrame;
} 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_ProcessPast(NvMOTContextHandle contextHandle,
                          NvMOTProcessParams *pParams,
                          NvDsPastFrameObjBatch *pPastFrameObjBatch);
NvMOTStatus NvMOT_Query(uint16_t customConfigFilePathSize, char* pCustomConfigFilePath, NvMOTQuery *pQuery);


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

#ifdef __cplusplus
}
#endif

#endif