9.1/sources/includes/nvdstracker.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: Copyright (c) 2018-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#ifndef _NVMOTRACKER_H_
#define _NVMOTRACKER_H_
 
#include <stdint.h>
#include <string>
#include <chrono>
#include <vector>
 
#include "nvbufsurface.h"
#include "nvds_tracker_meta.h"
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#define NVMOT_MAX_TRANSFORMS 4
 
typedef uint64_t NvMOTTimeStamp;
typedef uint64_t NvMOTStreamId;
typedef uint32_t NvMOTFrameNum;
typedef uint16_t NvMOTClassId;
typedef NvMOTTimeStamp TimeStamp;
 
static inline TimeStamp NvDsCurrentTimestampNs(void)
{
    return static_cast<TimeStamp>(std::chrono::duration_cast<std::chrono::nanoseconds>(
        std::chrono::system_clock::now().time_since_epoch()).count());
}
 
typedef struct _NvMOTTimeMeta
{
    NvMOTFrameNum frameNum;          
    NvMOTTimeStamp frameTimeStamp;   
    TimeStamp localTimestamp;        
    bool frameTimeValid;             
} NvMOTTimeMeta;
 
#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;
} NvMOTPerTransformBatchConfig;
 
 
typedef struct _NvMOTMiscConfig
{
    uint32_t gpuId;
    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 enum
{
    NvMOTBatchMode_Error = 0,
    NvMOTBatchMode_Batch = 1 << 0,
    NvMOTBatchMode_NonBatch = 1 << 1,
    NvMOTBatchMode_MaxValue = 3
} NvMOTBatchMode;
 
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
{
    float x;
    float y;
    float width;
    float height;
} NvMOTRect;
 
typedef struct _NvMOTMask
{
    float* data;
    uint32_t width;
    uint32_t height;
    uint32_t allocatedSize;
} NvMOTMask;
 
typedef struct _NvMOTObjToTrack
{
    NvMOTClassId 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 seq_index;
    NvMOTFrameNum frameNum;
    NvMOTTimeMeta timeMeta;
    uint32_t srcFrameWidth;
    uint32_t srcFrameHeight;
    bool doTracking;
    bool reset;
    uint8_t numBuffers;
    NvBufSurfaceParams** bufferList;
    NvMOTObjToTrackList objectsIn;
    const char* sensorName;
} NvMOTFrame;
 
typedef struct _NvMOTTrackedObj
{
    NvMOTClassId classId;
    uint64_t trackingId;
    NvMOTRect bbox;
    float confidence;
    uint32_t age;
    NvMOTObjToTrack *associatedObjectIn;
    NvDsObjReid reid;
    float visibility;
    float ptImgFeet[2];
    float ptWorldFeet[2];
    NvDsObjConvexHull convexHull;
    NvMOTMask mask;
    NvDsObj3DBbox bbox3DWorld;
    float bbox3DImg[8][2];
    uint8_t reserved[128];
} NvMOTTrackedObj;
 
typedef struct _NvMOTTrackedObjList
{
    NvMOTStreamId streamID;
    NvMOTFrameNum frameNum;
    bool valid;
    NvMOTTrackedObj* list;
    uint32_t numAllocated;
    uint32_t numFilled;
} NvMOTTrackedObjList;
 
typedef struct _NvMOTTrackedObjBatch
{
    NvMOTTrackedObjList *list;
    uint32_t numAllocated;
    uint32_t numFilled;
    NvDsReidTensorBatch* pReidTensorBatch;
} NvMOTTrackedObjBatch;
 
typedef struct _NvMOTTrackerMiscData
{
    NvDsTargetMiscDataBatch *pPastFrameObjBatch;
 
    NvDsTargetMiscDataBatch *pTerminatedTrackBatch;
 
    NvDsTargetMiscDataBatch *pShadowTrackBatch;
 
} NvMOTTrackerMiscData;
 
typedef struct _NvMOTProcessParams
{
    uint32_t numFrames;     
    NvMOTFrame *frameList;  
} NvMOTProcessParams;
 
struct NvMOTContext;
typedef struct NvMOTContext* NvMOTContextHandle;
 
typedef struct _NvMOTQuery
{
    NvMOTCompute computeConfig;
    uint8_t numTransforms;
    NvBufSurfaceColorFormat colorFormats[1];
    NvBufSurfaceMemType memType;
    uint32_t maxTargetsPerStream;
    uint32_t maxShadowTrackingAge;
    bool outputReidTensor;
    uint32_t reidFeatureSize;
    bool outputTrajectory;
    bool outputVisibility;
    bool outputFootLocation;
    bool outputConvexHull;
    uint32_t maxConvexHullSize;
    bool supportPastFrame;
    NvMOTBatchMode batchMode;
    bool outputTerminatedTracks;
    uint32_t maxTrajectoryBufferLength;
    bool outputShadowTracks;
    NvMOTContextHandle contextHandle;
} NvMOTQuery;
 
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_RetrieveMiscData(NvMOTContextHandle contextHandle,
                          NvMOTProcessParams *pParams,
                          NvMOTTrackerMiscData *pTrackerMiscData);
NvMOTStatus NvMOT_Query(uint16_t customConfigFilePathSize, char* pCustomConfigFilePath, NvMOTQuery *pQuery);
 
 
NvMOTStatus NvMOT_RemoveStreams(NvMOTContextHandle contextHandle, NvMOTStreamId streamIdMask);
 
 
NvMOTStatus NvMOT_UpdateParams(NvMOTContextHandle contextHandle, const std::string &configStr );
 // end of API group
 
#ifdef __cplusplus
}
#endif
 
#endif