Detailed Description

Data association module.

Definition at line 132 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

Inheritance diagram for DataAssociator:

Collaboration diagram for DataAssociator:

[legend]

Data Structures
struct	DA_Stats
	Store thread-safe per-session counters for the association-scoring funnel. More...

Public Member Functions
	DataAssociator (const std::string &configFilePath)
	Construct a data associator from a configuration file. More...

	~DataAssociator ()
	Report accumulated association statistics during destruction. More...

void	initialize (const SourceFrameInfo &frameInfo, const uint32_t maxTargetsPerStream, const bool useVisualTracker, const bool useReid) override
	Initialize the data associator for a source stream. More...

assocDataOut_t	associatePerStream (const assocDataIn_t in) override
	Associate detections with existing targets for one stream. More...

bool	isInitialized () override
	Return whether the data associator has been initialized. More...

const DATA_ASSOCIATOR_TYPES	getDataAssociatorType () override
	Return the configured data-associator type. More...

void	updateParams (const YAML::Node &fn)
	Update dynamic parameters during runtime. More...

	DataAssociator (const std::string &configFilePath)
	Construct a data associator from a configuration file. More...

	~DataAssociator ()
	Report accumulated association statistics during destruction. More...

void	initialize (const SourceFrameInfo &frameInfo, const uint32_t maxTargetsPerStream, const bool useVisualTracker, const bool useReid) override
	Initialize the data associator for a source stream. More...

assocDataOut_t	associatePerStream (const assocDataIn_t in) override
	Associate detections with existing targets for one stream. More...

bool	isInitialized () override
	Return whether the data associator has been initialized. More...

const DATA_ASSOCIATOR_TYPES	getDataAssociatorType () override
	Return the configured data-associator type. More...

void	updateParams (const YAML::Node &fn)
	Update dynamic parameters during runtime. More...

Protected Member Functions
void	initializeSimilarityParams (const bool useVisualTracker, const bool useReid)
	Rebuild per-stage similarity parameters for the enabled features. More...

assocDataOut_t	associatePerStream_greedy (const assocDataIn_t &in, const uint stage=0)
	Find the best matches between detections and existing targets. More...

assocDataOut_t	associatePerStream_cascadedLegacy (const assocDataIn_t &in)
	Run the legacy two-stage association algorithm. More...

assocDataOut_t	associatePerStream_cascaded (const assocDataIn_t &in)
	Run the cascaded association algorithm. More...

virtual float	assocDistanceFunc (const std::shared_ptr< NvTrackedObject > trajObj, const DetectedObjInfo &detObj, const std::vector< SimilarityParam > &similarityParamList, const float sumCorrRespAtDetectedPt) const
	Function to compute the association score between a detector bbox and a tracked bbox. More...

std::vector< std::vector< float > >	computeDistanceMatrix (const assocDataIn_t &in, const uint stage=0) const
	Compute the association score matrix. More...

std::multimap< float, std::pair< uint, int > >	sortMatching (const assocDataIn_t &in, const std::vector< std::vector< float >> &distMat) const
	Given the distance matrix, get the sorted list of potential match pairs based on the association cost. More...

void	dumpDataAssociationResults (const assocDataOut_t &out) const
	Dump-print the data association results. More...

void	dumpAssocDistanceMatrix (const assocDataIn_t &in, std::vector< std::vector< float >> distMat) const
	Dump-print the scores in the distance matrix for association. More...

void	initializeSimilarityParams (const bool useVisualTracker, const bool useReid)
	Rebuild per-stage similarity parameters for the enabled features. More...

assocDataOut_t	associatePerStream_greedy (const assocDataIn_t &in, const uint stage=0)
	Find the best matches between detections and existing targets. More...

assocDataOut_t	associatePerStream_cascadedLegacy (const assocDataIn_t &in)
	Run the legacy two-stage association algorithm. More...

assocDataOut_t	associatePerStream_cascaded (const assocDataIn_t &in)
	Run the cascaded association algorithm. More...

virtual float	assocDistanceFunc (const std::shared_ptr< NvTrackedObject > trajObj, const DetectedObjInfo &detObj, const std::vector< SimilarityParam > &similarityParamList, const float sumCorrRespAtDetectedPt) const
	Function to compute the association score between a detector bbox and a tracked bbox. More...

std::vector< std::vector< float > >	computeDistanceMatrix (const assocDataIn_t &in, const uint stage=0) const
	Compute the association score matrix. More...

std::multimap< float, std::pair< uint, int > >	sortMatching (const assocDataIn_t &in, const std::vector< std::vector< float >> &distMat) const
	Given the distance matrix, get the sorted list of potential match pairs based on the association cost. More...

void	dumpDataAssociationResults (const assocDataOut_t &out) const
	Dump-print the data association results. More...

void	dumpAssocDistanceMatrix (const assocDataIn_t &in, std::vector< std::vector< float >> distMat) const
	Dump-print the scores in the distance matrix for association. More...

Protected Attributes
bool	m_isInit
	Indicates whether the data associator has been initialized. More...

NvTrackerParamsAssoc	m_params
	Stores parsed configuration parameters. More...

std::vector< std::vector< SimilarityParam > >	m_similarityParamLists
	Per-stage similarity parameters and weights. More...

std::mutex	m_similarityParamsMutex
	Guards similarity parameters during reads and updates. More...

int	m_maxTargetsPerStream
	Specifies the maximum number of targets to track per stream. More...

bool	m_useVisualTracker {false}
	Records whether visual-tracker similarity is enabled for parameter rebuilds. More...

bool	m_useReid {false}
	Records whether ReID similarity is enabled for parameter rebuilds. More...

DA_Stats	m_da_stats
	Stores association-scoring counters. More...

Constructor & Destructor Documentation

◆ DataAssociator() [1/2]

DataAssociator::DataAssociator ( const std::string & configFilePath )

Construct a data associator from a configuration file.

Parameters

[in] configFilePath The path to a config file.

◆ ~DataAssociator() [1/2]

DataAssociator::~DataAssociator ( )

Report accumulated association statistics during destruction.

◆ DataAssociator() [2/2]

DataAssociator::DataAssociator ( const std::string & configFilePath )

Construct a data associator from a configuration file.

Parameters

[in] configFilePath The path to a config file.

◆ ~DataAssociator() [2/2]

DataAssociator::~DataAssociator ( )

Report accumulated association statistics during destruction.

Member Function Documentation

◆ assocDistanceFunc() [1/2]

virtual float DataAssociator::assocDistanceFunc	(	const std::shared_ptr< NvTrackedObject >	trajObj,
		const DetectedObjInfo &	detObj,
		const std::vector< SimilarityParam > &	similarityParamList,
		const float	sumCorrRespAtDetectedPt
	)		const

protectedvirtual

Function to compute the association score between a detector bbox and a tracked bbox.

Parameters

[in]	trajObj	Tracked object.
[in]	detObj	Detected object.
[in]	similarityParamList	Similarity parameters and their weights.
[in]	sumCorrRespAtDetectedPt	Sum of tracker correlation responses at the detected point.

Returns: The similarity score.

◆ assocDistanceFunc() [2/2]

virtual float DataAssociator::assocDistanceFunc	(	const std::shared_ptr< NvTrackedObject >	trajObj,
		const DetectedObjInfo &	detObj,
		const std::vector< SimilarityParam > &	similarityParamList,
		const float	sumCorrRespAtDetectedPt
	)		const

protectedvirtual

Function to compute the association score between a detector bbox and a tracked bbox.

Parameters

[in]	trajObj	Tracked object.
[in]	detObj	Detected object.
[in]	similarityParamList	Similarity parameters and their weights.
[in]	sumCorrRespAtDetectedPt	Sum of tracker correlation responses at the detected point.

Returns: The similarity score.

◆ associatePerStream() [1/2]

assocDataOut_t DataAssociator::associatePerStream ( const assocDataIn_t in )

overridevirtual

Associate detections with existing targets for one stream.

Parameters

[in] in Newly detected object bounding boxes and existing targets.

Returns: (1) matched pairs, (2) unmatched detector bboxes, and (3) unmatched targets.

Implements IDataAssociator.

◆ associatePerStream() [2/2]

assocDataOut_t DataAssociator::associatePerStream ( const assocDataIn_t in )

overridevirtual

Associate detections with existing targets for one stream.

Parameters

[in] in Newly detected object bounding boxes and existing targets.

Returns: (1) matched pairs, (2) unmatched detector bboxes, and (3) unmatched targets.

Implements IDataAssociator.

◆ associatePerStream_cascaded() [1/2]

assocDataOut_t DataAssociator::associatePerStream_cascaded ( const assocDataIn_t & in )

protected

Run the cascaded association algorithm.

Parameters

[in] in Association inputs.

Returns: The association results.

◆ associatePerStream_cascaded() [2/2]

assocDataOut_t DataAssociator::associatePerStream_cascaded ( const assocDataIn_t & in )

protected

Run the cascaded association algorithm.

Parameters

[in] in Association inputs.

Returns: The association results.

◆ associatePerStream_cascadedLegacy() [1/2]

assocDataOut_t DataAssociator::associatePerStream_cascadedLegacy ( const assocDataIn_t & in )

protected

Run the legacy two-stage association algorithm.

Parameters

[in] in Association inputs.

Returns: The association results.

◆ associatePerStream_cascadedLegacy() [2/2]

assocDataOut_t DataAssociator::associatePerStream_cascadedLegacy ( const assocDataIn_t & in )

protected

Run the legacy two-stage association algorithm.

Parameters

[in] in Association inputs.

Returns: The association results.

◆ associatePerStream_greedy() [1/2]

assocDataOut_t DataAssociator::associatePerStream_greedy	(	const assocDataIn_t &	in,
		const uint	stage = `0`
	)

protected

Find the best matches between detections and existing targets.

Parameters

[in]	in	Association inputs.
[in]	stage	Association stage.

Returns: The association results.

◆ associatePerStream_greedy() [2/2]

assocDataOut_t DataAssociator::associatePerStream_greedy	(	const assocDataIn_t &	in,
		const uint	stage = `0`
	)

protected

Find the best matches between detections and existing targets.

Parameters

[in]	in	Association inputs.
[in]	stage	Association stage.

Returns: The association results.

◆ computeDistanceMatrix() [1/2]

std::vector<std::vector<float> > DataAssociator::computeDistanceMatrix	(	const assocDataIn_t &	in,
		const uint	stage = `0`
	)		const

protected

Compute the association score matrix.

Parameters

[in]	in	Association inputs.
[in]	stage	Association stage.

Returns: The computed score matrix, where higher values indicate closer matches.

◆ computeDistanceMatrix() [2/2]

std::vector<std::vector<float> > DataAssociator::computeDistanceMatrix	(	const assocDataIn_t &	in,
		const uint	stage = `0`
	)		const

protected

Compute the association score matrix.

Parameters

[in]	in	Association inputs.
[in]	stage	Association stage.

Returns: The computed score matrix, where higher values indicate closer matches.

◆ dumpAssocDistanceMatrix() [1/2]

void DataAssociator::dumpAssocDistanceMatrix	(	const assocDataIn_t &	in,
		std::vector< std::vector< float >>	distMat
	)		const

protected

Dump-print the scores in the distance matrix for association.

Parameters

[in]	in	Association inputs used to label the matrix.
[in]	distMat	Score matrix to print.

◆ dumpAssocDistanceMatrix() [2/2]

void DataAssociator::dumpAssocDistanceMatrix	(	const assocDataIn_t &	in,
		std::vector< std::vector< float >>	distMat
	)		const

protected

Dump-print the scores in the distance matrix for association.

Parameters

[in]	in	Association inputs used to label the matrix.
[in]	distMat	Score matrix to print.

◆ dumpDataAssociationResults() [1/2]

void DataAssociator::dumpDataAssociationResults ( const assocDataOut_t & out ) const

protected

Dump-print the data association results.

Parameters

[in] out Association results to print.

◆ dumpDataAssociationResults() [2/2]

void DataAssociator::dumpDataAssociationResults ( const assocDataOut_t & out ) const

protected

Dump-print the data association results.

Parameters

[in] out Association results to print.

◆ getDataAssociatorType() [1/2]

const DATA_ASSOCIATOR_TYPES DataAssociator::getDataAssociatorType ( )

inlineoverridevirtual

Return the configured data-associator type.

Implements IDataAssociator.

Definition at line 168 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References NvTrackerParamsAssoc::m_dataAssociatorType, and m_params.

◆ getDataAssociatorType() [2/2]

const DATA_ASSOCIATOR_TYPES DataAssociator::getDataAssociatorType ( )

inlineoverridevirtual

Return the configured data-associator type.

Implements IDataAssociator.

Definition at line 168 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References NvTrackerParamsAssoc::m_dataAssociatorType, and m_params.

◆ initialize() [1/2]

void DataAssociator::initialize	(	const SourceFrameInfo &	frameInfo,
		const uint32_t	maxTargetsPerStream,
		const bool	useVisualTracker,
		const bool	useReid
	)

overridevirtual

Initialize the data associator for a source stream.

Parameters

[in]	frameInfo	Metadata about the source image (e.g., size, color).
[in]	maxTargetsPerStream	The max number of targets to track per stream.
[in]	useVisualTracker	Whether visual-tracker similarity is used.
[in]	useReid	Whether ReID similarity is used.

Implements IDataAssociator.

◆ initialize() [2/2]

void DataAssociator::initialize	(	const SourceFrameInfo &	frameInfo,
		const uint32_t	maxTargetsPerStream,
		const bool	useVisualTracker,
		const bool	useReid
	)

overridevirtual

Initialize the data associator for a source stream.

Parameters

[in]	frameInfo	Metadata about the source image (e.g., size, color).
[in]	maxTargetsPerStream	The max number of targets to track per stream.
[in]	useVisualTracker	Whether visual-tracker similarity is used.
[in]	useReid	Whether ReID similarity is used.

Implements IDataAssociator.

◆ initializeSimilarityParams() [1/2]

void DataAssociator::initializeSimilarityParams	(	const bool	useVisualTracker,
		const bool	useReid
	)

protected

Rebuild per-stage similarity parameters for the enabled features.

Parameters

[in]	useVisualTracker	Whether visual-tracker similarity is used.
[in]	useReid	Whether ReID similarity is used.

Referenced by updateParams().

◆ initializeSimilarityParams() [2/2]

void DataAssociator::initializeSimilarityParams	(	const bool	useVisualTracker,
		const bool	useReid
	)

protected

Rebuild per-stage similarity parameters for the enabled features.

Parameters

[in]	useVisualTracker	Whether visual-tracker similarity is used.
[in]	useReid	Whether ReID similarity is used.

◆ isInitialized() [1/2]

bool DataAssociator::isInitialized ( )

inlineoverridevirtual

Return whether the data associator has been initialized.

Implements IDataAssociator.

Definition at line 165 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References m_isInit.

◆ isInitialized() [2/2]

bool DataAssociator::isInitialized ( )

inlineoverridevirtual

Return whether the data associator has been initialized.

Implements IDataAssociator.

Definition at line 165 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References m_isInit.

◆ sortMatching() [1/2]

std::multimap<float, std::pair<uint, int> > DataAssociator::sortMatching	(	const assocDataIn_t &	in,
		const std::vector< std::vector< float >> &	distMat
	)		const

protected

Given the distance matrix, get the sorted list of potential match pairs based on the association cost.

Parameters

[in]	in	Association inputs.
[in]	distMat	Score matrix, where higher values indicate closer matches.

Returns: The sorted list of potential match pairs { matching score, {inDetBboxListInd, inTargetListInd}}.

◆ sortMatching() [2/2]

std::multimap<float, std::pair<uint, int> > DataAssociator::sortMatching	(	const assocDataIn_t &	in,
		const std::vector< std::vector< float >> &	distMat
	)		const

protected

Given the distance matrix, get the sorted list of potential match pairs based on the association cost.

Parameters

[in]	in	Association inputs.
[in]	distMat	Score matrix, where higher values indicate closer matches.

Returns: The sorted list of potential match pairs { matching score, {inDetBboxListInd, inTargetListInd}}.

◆ updateParams() [1/2]

void DataAssociator::updateParams ( const YAML::Node & fn )

inlinevirtual

Update dynamic parameters during runtime.

Parameters

[in] fn Parsed YAML structure of config to update.

Implements IDataAssociator.

Definition at line 174 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References initializeSimilarityParams(), m_isInit, m_params, m_useReid, m_useVisualTracker, and NvTrackerParamsAssoc::read().

◆ updateParams() [2/2]

void DataAssociator::updateParams ( const YAML::Node & fn )

inlinevirtual

Update dynamic parameters during runtime.

Parameters

[in] fn Parsed YAML structure of config to update.

Implements IDataAssociator.

Definition at line 174 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

References initializeSimilarityParams(), m_isInit, m_params, m_useReid, m_useVisualTracker, and NvTrackerParamsAssoc::read().

Field Documentation

◆ m_da_stats

DA_Stats DataAssociator::m_da_stats

mutableprotected

Stores association-scoring counters.

Definition at line 287 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

◆ m_isInit

bool DataAssociator::m_isInit

protected

Indicates whether the data associator has been initialized.

Definition at line 182 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

Referenced by isInitialized(), and updateParams().

◆ m_maxTargetsPerStream

int DataAssociator::m_maxTargetsPerStream

protected

Specifies the maximum number of targets to track per stream.

Definition at line 186 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

◆ m_params

NvTrackerParamsAssoc DataAssociator::m_params

protected

Stores parsed configuration parameters.

Definition at line 183 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

Referenced by getDataAssociatorType(), and updateParams().

◆ m_similarityParamLists

std::vector< std::vector< SimilarityParam > > DataAssociator::m_similarityParamLists

protected

Per-stage similarity parameters and weights.

Definition at line 184 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

◆ m_similarityParamsMutex

std::mutex DataAssociator::m_similarityParamsMutex

mutableprotected

Guards similarity parameters during reads and updates.

Definition at line 185 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

◆ m_useReid

bool DataAssociator::m_useReid {false}

protected

Records whether ReID similarity is enabled for parameter rebuilds.

Definition at line 188 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

Referenced by updateParams().

◆ m_useVisualTracker

bool DataAssociator::m_useVisualTracker {false}

protected

Records whether visual-tracker similarity is enabled for parameter rebuilds.

Definition at line 187 of file sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp.

Referenced by updateParams().

The documentation for this class was generated from the following file:

sources/libs/nvmultiobjecttracker/include/modules/DataAssociator/DataAssociator.hpp


NVIDIA DeepStream SDK API Reference	9.2 Release

NVIDIA DeepStream SDK API Reference

9.2 Release

Detailed Description

Data Structures

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ DataAssociator() [1/2]

◆ ~DataAssociator() [1/2]

◆ DataAssociator() [2/2]

◆ ~DataAssociator() [2/2]

Member Function Documentation

◆ assocDistanceFunc() [1/2]

◆ assocDistanceFunc() [2/2]

◆ associatePerStream() [1/2]

◆ associatePerStream() [2/2]

◆ associatePerStream_cascaded() [1/2]

◆ associatePerStream_cascaded() [2/2]

◆ associatePerStream_cascadedLegacy() [1/2]

◆ associatePerStream_cascadedLegacy() [2/2]

◆ associatePerStream_greedy() [1/2]

◆ associatePerStream_greedy() [2/2]

◆ computeDistanceMatrix() [1/2]

◆ computeDistanceMatrix() [2/2]

◆ dumpAssocDistanceMatrix() [1/2]

◆ dumpAssocDistanceMatrix() [2/2]

◆ dumpDataAssociationResults() [1/2]

◆ dumpDataAssociationResults() [2/2]

◆ getDataAssociatorType() [1/2]

◆ getDataAssociatorType() [2/2]

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ initializeSimilarityParams() [1/2]

◆ initializeSimilarityParams() [2/2]

◆ isInitialized() [1/2]

◆ isInitialized() [2/2]

◆ sortMatching() [1/2]

◆ sortMatching() [2/2]

◆ updateParams() [1/2]

◆ updateParams() [2/2]

Field Documentation

◆ m_da_stats

◆ m_isInit

◆ m_maxTargetsPerStream

◆ m_params

◆ m_similarityParamLists

◆ m_similarityParamsMutex

◆ m_useReid

◆ m_useVisualTracker