Detailed Description

Stores and updates the state of one tracked target.

Definition at line 203 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

Collaboration diagram for NvTrackedObject:

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Public Member Functions
	NvTrackedObject (const std::string &configFilePath, const NvTrackerParamsTargetManager *params, const TrackerIndex trackerInd)
	Initialize a tracked target and its estimator. More...

virtual	~NvTrackedObject ()
	Release resources owned by the tracked target. More...

void	reset ()
	Reset the target states for later use. More...

void	updateTargetStates (const NvMOTFrameNum frameNum, const DetectedObjInfo *debObj, TRACKER_STATE state)
	Update the states with the new measurement. More...

void	updateTargetStates (const NvMOTFrameNum frameNum)
	Update the states with its own prediction because of no-inference frame. More...

void	initializeQuasiActiveStates (const NvMOTFrameNum frameNum, const PeerTarget *peerTarget)
	Initialize a target tracked by a peer camera in quasi-active state. More...

void	setLocalizationResults (const NvMOTFrameNum frameNum, const float trackingConfidence, const NvMotDataTypes::Rect2f &localizationBbox)
	Update localization states from the current tracker result. More...

void	incrementShadowTrackingAge (const NvMOTFrameNum increment=1)
	Increment the number of frames spent in shadow tracking. More...

void	resetShadowTrackingAge ()
	Reset the shadow-tracking age to zero. More...

void	addPastFrameData ()
	Add the target info for the current frame into a buffer for later reporting. More...

void	resetPastFrameData ()
	Clear the past-frame data buffer. More...

const NvMotDataTypes::Rect2f	defineSearchRegion (const NvMotDataTypes::Rect2f bbox) const
	Expand a target bounding box into its search region. More...

void	updateTrajectoryBuffer ()
	Add the current target info to the trajectory buffer. More...

void	purgeTrajectoryBufferUntilSpecified (const NvMOTFrameNum frameNum)
	Purge the trajectory buffer until the frame num specified. More...

void	adoptTracklet (const std::list< TargetInfo > &tracklet)
	In case of re-assoc with a newer tracklet, adopt and fuse it to the existing one. More...

std::list< TargetInfo >	fuseOverlappingTracklets (const std::list< TargetInfo > &tracklet, const std::list< TargetInfo > &peerTracklet)
	Fuse the peer's tracklet into the target's. More...

void	adoptPastFrameData (const std::deque< TargetInfo > &pastFrameBuffer)
	In case of re-assoc with a newer tracklet, fuse its past frame object into the existing one. More...

std::map< NvMOTStreamId, std::deque< DetectedObjInfo > >	generateTrackedObjects4Reid (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Package this target for ReID extraction when eligible. More...

void	setVideoStreamId (const NvMOTStreamId videoStreamId)
	Set the video stream associated with this target. More...

const NvMOTStreamId	getVideoStreamId ()
	Return the video stream associated with this target. More...

const TrackerIndex &	getTargetInd ()
	Return the target index in the allocated memory layout. More...

const TargetInfo &	getTargetInfo ()
	Return the current target information. More...

void	setTargetInfo (const TargetInfo &tInfo)
	Replace the current target information. More...

const NvMotDataTypes::Rect2f	getTargetBbox () const
	Return the current target bounding box. More...

const NvMotDataTypes::Rect2f	getSearchRegion () const
	Get the search region for the current frame. More...

const NvMotDataTypes::Rect2f	getPredictedSearchRegion () const
	Get the predicted search region for the next frame. More...

const NvMotDataTypes::Rect2f	getProgBbox () const
	Return the progressed bounding box generated by the segmenter. More...

void	setProgBbox (const NvMotDataTypes::Rect2f &bbox)
	Store the progressed bounding box generated by the segmenter. More...

const NvMOTFrameNum	getAge ()
	Return the target age in frames. More...

const float	getVisibility ()
	Return the visible fraction of the target. More...

void	setAge (const NvMOTFrameNum newAge)
	Set the target age in frames. More...

const TRACKER_STATE	getTrackerState ()
	Return the current tracker state. More...

void	setTrackerState (const TRACKER_STATE state)
	Set the current tracker state. More...

const NvMOTFrameNum	getShadowTrackingAge ()
	Return the number of frames spent in shadow tracking. More...

const TargetId	getTargetID ()
	Return the unique target ID. More...

void	setTargetID (const TargetId newTargetID)
	Set the unique target ID. More...

const uint16_t	getClassId ()
	Return the target class ID. More...

const std::deque< TargetInfo > &	getPastFrameData ()
	Return buffered past-frame target information. More...

std::list< TargetInfo > &	getTrajectoryBuffer ()
	Return the target trajectory buffer. More...

void	setTrajectoryBuffer (const std::list< TargetInfo > &traj)
	Replace the target trajectory buffer. More...

const NvMotDataTypes::Rect2f	getPredictedTargetBbox ()
	Return the bounding box predicted by the state estimator. More...

const TimeStamp	getTargetIDTimeStamp ()
	Return the timestamp at which the target ID was created. More...

void	setTargetIDTimeStamp (const TimeStamp time)
	Set the timestamp at which the target ID was created. More...

const bool	becameActive ()
	Report whether the target became ACTIVE in the current frame. More...

void	setBecameActive (const bool flag)
	Set whether the target became ACTIVE in the current frame. More...

const bool	acquiredID ()
	Report whether the target acquired an ID for the first time. More...

void	setAcquiredID (const bool flag)
	Set whether the target acquired an ID for the first time. More...

const std::vector< PeerTarget >	getPeerTargets ()
	Return peer-camera targets associated with this target. More...

void	setPeerTargets (const std::vector< PeerTarget > peerTargets)
	Replace peer-camera targets associated with this target. More...

void	setNeedTargetIDAssigned ()
	Mark the target as ready for target ID assignment. More...

float	getDistFromCam ()
	Return the target distance from the camera. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov ()
	Return the current estimator state and covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1.f)
	Return the predicted estimator state and covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov ()
	Return predicted measurements and their covariance. More...

const float	getTrackerConfidence ()
	Return the current tracker confidence. More...

const int	getMatchedDetObjInd ()
	Return the matched detection index or negative one when unmatched. More...

const DetectedObjInfo *	getMatchedDetObj ()
	Return the detected object matched to the target. More...

void	setConfidenceCorrRespAtDetectedPts (const float *ptr, const size_t length)
	Store confidence-weighted correlation responses at detected points. More...

const std::vector< float > &	getConfidenceCorrRespAtDetectedPts ()
	Return confidence-weighted correlation responses at detected points. More...

void	setCorrRespAtDetectedPts (const float *ptr, const size_t length)
	Store correlation responses at detected points. More...

const std::vector< float > &	getCorrRespAtDetectedPts ()
	Return correlation responses at detected points. More...

void	setConfidenceReidDets (const float *ptr, const size_t length)
	Store ReID confidence values for detections. More...

void	setConfidenceReidDets (std::vector< float > vec)
	Move ReID confidence values into the target. More...

const std::vector< float > &	getConfidenceReidDets ()
	Return ReID confidence values for detections. More...

void	addConfidenceListReidDets (const float *ptr, const size_t length)
	Append a model's ReID confidence values. More...

std::vector< std::vector< float > > &	getConfidenceListReidDets ()
	Return ReID confidence values from all models. More...

void	setConfidenceReidDetsFrameNum (const std::vector< int > input)
	Store frame numbers associated with ReID confidence values. More...

const std::vector< int > &	getConfidenceReidDetsFrameNum ()
	Return frame numbers associated with ReID confidence values. More...

void	setDisMahalanobisDets (const std::vector< float > disVec)
	Store Mahalanobis distances from the target to detections. More...

const std::vector< float > &	getDisMahalanobisDets ()
	Return Mahalanobis distances from the target to detections. More...

void	setSegmentationMask (const NvMOTMask mask)
	Store the target segmentation mask. More...

const NvMOTMask &	getSegmentationMask ()
	Return the target segmentation mask. More...

void	resetStateEstimator ()
	Reset the target state estimator. More...

const NvMOTFrameNum	getlastFrameinTraj ()
	Return the last frame number in the trajectory buffer. More...

const std::vector< float > &	getPose ()
	Return the target 2.5D pose keypoints. More...

void	setPose25d (const float *ptr, const size_t length)
	Store target 2.5D pose keypoints. More...

void	setPose3d (const float *ptr, const size_t length)
	Store target 3D pose keypoints. More...

void	setObjModelProjector (std::shared_ptr< ObjectModelProjector > objModelProjector)
	Store a deep copy of the object model projector. More...

std::shared_ptr< ObjectModelProjector >	getObjModelProjector ()
	Return the target object model projector. More...

bool	isObjModelProjectorInitialized ()
	Check whether the object model projector is initialized. More...

void	setBbox3D (const Eigen::Vector2d &pt_world_feet, NvDsObj3DBbox &bbox3DWorld, float(*bbox3DImg)[2])
	Set 3D bounding box information. More...

const bool	needTargetIDAssigned ()
	Report whether the target is ready for target ID assignment. More...

void	resetNeedTargetIDAssigned ()
	Clear the target ID assignment request. More...

const bool	ready4ReAssoc ()
	Report whether the target is ready for reassociation. More...

void	resetReady4ReAssoc ()
	Clear the reassociation-ready flag. More...

const bool	needToRemoveFromPendingReAssocDB ()
	Report whether the target must leave the pending reassociation database. More...

void	resetNeedToRemoveFromPendingReAssocDB ()
	Clear the pending reassociation database removal flag. More...

const bool	getStateUseAspc ()
	Report whether the state estimator uses aspect ratio. More...

void	getReidFeaturesDet_h (const float **ptr, int &reidFeatureSize)
	Return the detection ReID feature pointer and size. More...

void	setReidFeaturesDet_h (const float *ptr, int reidFeatureSize)
	Store detection ReID feature metadata and persist non-empty features. More...

const std::vector< float > &	getPersistentReidFeature () const
	Return the last persisted non-empty ReID feature. More...

float	getTargetHeight () const
	Return the estimated target height or the default human height. More...

float	getHeightConfidence () const
	Return the confidence of the estimated target height. More...

void	setTargetHeight (float height, float confidence, bool force=false)
	Update the estimated target height when an object model projector is available. More...

float	getMinPoseConfidence () const
	Return the minimum pose confidence or its default value. More...

Eigen::Matrix2d	getLocCovariance () const
	Return the location covariance from the state estimator. More...

bool	usesProjectiveEstimator () const
	Report whether the target uses a projective state estimator. More...

bool	hasBeenActive () const
	Report whether the target has ever reached ACTIVE state. More...

const bool	needToReAssocFromReidService ()
	Report whether the target requires ReID-service reassociation. More...

void	setNeedToReAssocFromReidService (const bool flag)
	Set whether the target requires ReID-service reassociation. More...

void	resetNeedToReAssocFromReidService ()
	Clear the ReID-service reassociation flag. More...

const bool	adoptedReidServiceID ()
	Report whether the target adopted an ID from the ReID service. More...

void	setAdoptedReidServiceID (const bool flag)
	Set whether the target adopted an ID from the ReID service. More...

const TargetId	getTargetIDBeforeAdoption ()
	Return the target ID held before ReID-service adoption. More...

void	setTargetIDBeforeAdoption (const TargetId targetID)
	Store the target ID held before ReID-service adoption. More...

const TargetId	getTargetIDFromReidService ()
	Return the target ID assigned by the ReID service. More...

void	setTargetIDFromReidService (const TargetId targetID)
	Store the target ID assigned by the ReID service. More...

void	setReidServiceAssocResponse (const std::map< TargetId, reidServiceAssocInfo > reidServiceAssocResponseMap)
	Store association responses returned by the ReID service. More...

const std::map< TargetId, reidServiceAssocInfo > &	getReidServiceAssocResponse ()
	Return association responses from the ReID service. More...

float	getReidServiceMatchConfidence (const TargetId targetID)
	Return the ReID-service match confidence for a target ID. More...

	NvTrackedObject (const std::string &configFilePath, const NvTrackerParamsTargetManager *params, const TrackerIndex trackerInd)
	Initialize a tracked target and its estimator. More...

virtual	~NvTrackedObject ()
	Release resources owned by the tracked target. More...

void	reset ()
	Reset the target states for later use. More...

void	updateTargetStates (const NvMOTFrameNum frameNum, const DetectedObjInfo *debObj, TRACKER_STATE state)
	Update the states with the new measurement. More...

void	updateTargetStates (const NvMOTFrameNum frameNum)
	Update the states with its own prediction because of no-inference frame. More...

void	initializeQuasiActiveStates (const NvMOTFrameNum frameNum, const PeerTarget *peerTarget)
	Initialize a target tracked by a peer camera in quasi-active state. More...

void	setLocalizationResults (const NvMOTFrameNum frameNum, const float trackingConfidence, const NvMotDataTypes::Rect2f &localizationBbox)
	Update localization states from the current tracker result. More...

void	incrementShadowTrackingAge (const NvMOTFrameNum increment=1)
	Increment the number of frames spent in shadow tracking. More...

void	resetShadowTrackingAge ()
	Reset the shadow-tracking age to zero. More...

void	addPastFrameData ()
	Add the target info for the current frame into a buffer for later reporting. More...

void	resetPastFrameData ()
	Clear the past-frame data buffer. More...

const NvMotDataTypes::Rect2f	defineSearchRegion (const NvMotDataTypes::Rect2f bbox) const
	Expand a target bounding box into its search region. More...

void	updateTrajectoryBuffer ()
	Add the current target info to the trajectory buffer. More...

void	purgeTrajectoryBufferUntilSpecified (const NvMOTFrameNum frameNum)
	Purge the trajectory buffer until the frame num specified. More...

void	adoptTracklet (const std::list< TargetInfo > &tracklet)
	In case of re-assoc with a newer tracklet, adopt and fuse it to the existing one. More...

std::list< TargetInfo >	fuseOverlappingTracklets (const std::list< TargetInfo > &tracklet, const std::list< TargetInfo > &peerTracklet)
	Fuse the peer's tracklet into the target's. More...

void	adoptPastFrameData (const std::deque< TargetInfo > &pastFrameBuffer)
	In case of re-assoc with a newer tracklet, fuse its past frame object into the existing one. More...

std::map< NvMOTStreamId, std::deque< DetectedObjInfo > >	generateTrackedObjects4Reid (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Package this target for ReID extraction when eligible. More...

void	setVideoStreamId (const NvMOTStreamId videoStreamId)
	Set the video stream associated with this target. More...

const NvMOTStreamId	getVideoStreamId ()
	Return the video stream associated with this target. More...

const TrackerIndex &	getTargetInd ()
	Return the target index in the allocated memory layout. More...

const TargetInfo &	getTargetInfo ()
	Return the current target information. More...

void	setTargetInfo (const TargetInfo &tInfo)
	Replace the current target information. More...

const NvMotDataTypes::Rect2f	getTargetBbox () const
	Return the current target bounding box. More...

const NvMotDataTypes::Rect2f	getSearchRegion () const
	Get the search region for the current frame. More...

const NvMotDataTypes::Rect2f	getPredictedSearchRegion () const
	Get the predicted search region for the next frame. More...

const NvMotDataTypes::Rect2f	getProgBbox () const
	Return the progressed bounding box generated by the segmenter. More...

void	setProgBbox (const NvMotDataTypes::Rect2f &bbox)
	Store the progressed bounding box generated by the segmenter. More...

const NvMOTFrameNum	getAge ()
	Return the target age in frames. More...

const float	getVisibility ()
	Return the visible fraction of the target. More...

void	setAge (const NvMOTFrameNum newAge)
	Set the target age in frames. More...

const TRACKER_STATE	getTrackerState ()
	Return the current tracker state. More...

void	setTrackerState (const TRACKER_STATE state)
	Set the current tracker state. More...

const NvMOTFrameNum	getShadowTrackingAge ()
	Return the number of frames spent in shadow tracking. More...

const TargetId	getTargetID ()
	Return the unique target ID. More...

void	setTargetID (const TargetId newTargetID)
	Set the unique target ID. More...

const uint16_t	getClassId ()
	Return the target class ID. More...

const std::deque< TargetInfo > &	getPastFrameData ()
	Return buffered past-frame target information. More...

std::list< TargetInfo > &	getTrajectoryBuffer ()
	Return the target trajectory buffer. More...

void	setTrajectoryBuffer (const std::list< TargetInfo > &traj)
	Replace the target trajectory buffer. More...

const NvMotDataTypes::Rect2f	getPredictedTargetBbox ()
	Return the bounding box predicted by the state estimator. More...

const TimeStamp	getTargetIDTimeStamp ()
	Return the timestamp at which the target ID was created. More...

void	setTargetIDTimeStamp (const TimeStamp time)
	Set the timestamp at which the target ID was created. More...

const bool	becameActive ()
	Report whether the target became ACTIVE in the current frame. More...

void	setBecameActive (const bool flag)
	Set whether the target became ACTIVE in the current frame. More...

const bool	acquiredID ()
	Report whether the target acquired an ID for the first time. More...

void	setAcquiredID (const bool flag)
	Set whether the target acquired an ID for the first time. More...

const std::vector< PeerTarget >	getPeerTargets ()
	Return peer-camera targets associated with this target. More...

void	setPeerTargets (const std::vector< PeerTarget > peerTargets)
	Replace peer-camera targets associated with this target. More...

void	setNeedTargetIDAssigned ()
	Mark the target as ready for target ID assignment. More...

float	getDistFromCam ()
	Return the target distance from the camera. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov ()
	Return the current estimator state and covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1.f)
	Return the predicted estimator state and covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov ()
	Return predicted measurements and their covariance. More...

const float	getTrackerConfidence ()
	Return the current tracker confidence. More...

const int	getMatchedDetObjInd ()
	Return the matched detection index or negative one when unmatched. More...

const DetectedObjInfo *	getMatchedDetObj ()
	Return the detected object matched to the target. More...

void	setConfidenceCorrRespAtDetectedPts (const float *ptr, const size_t length)
	Store confidence-weighted correlation responses at detected points. More...

const std::vector< float > &	getConfidenceCorrRespAtDetectedPts ()
	Return confidence-weighted correlation responses at detected points. More...

void	setCorrRespAtDetectedPts (const float *ptr, const size_t length)
	Store correlation responses at detected points. More...

const std::vector< float > &	getCorrRespAtDetectedPts ()
	Return correlation responses at detected points. More...

void	setConfidenceReidDets (const float *ptr, const size_t length)
	Store ReID confidence values for detections. More...

void	setConfidenceReidDets (std::vector< float > vec)
	Move ReID confidence values into the target. More...

const std::vector< float > &	getConfidenceReidDets ()
	Return ReID confidence values for detections. More...

void	addConfidenceListReidDets (const float *ptr, const size_t length)
	Append a model's ReID confidence values. More...

std::vector< std::vector< float > > &	getConfidenceListReidDets ()
	Return ReID confidence values from all models. More...

void	setConfidenceReidDetsFrameNum (const std::vector< int > input)
	Store frame numbers associated with ReID confidence values. More...

const std::vector< int > &	getConfidenceReidDetsFrameNum ()
	Return frame numbers associated with ReID confidence values. More...

void	setDisMahalanobisDets (const std::vector< float > disVec)
	Store Mahalanobis distances from the target to detections. More...

const std::vector< float > &	getDisMahalanobisDets ()
	Return Mahalanobis distances from the target to detections. More...

void	setSegmentationMask (const NvMOTMask mask)
	Store the target segmentation mask. More...

const NvMOTMask &	getSegmentationMask ()
	Return the target segmentation mask. More...

void	resetStateEstimator ()
	Reset the target state estimator. More...

const NvMOTFrameNum	getlastFrameinTraj ()
	Return the last frame number in the trajectory buffer. More...

const std::vector< float > &	getPose ()
	Return the target 2.5D pose keypoints. More...

void	setPose25d (const float *ptr, const size_t length)
	Store target 2.5D pose keypoints. More...

void	setPose3d (const float *ptr, const size_t length)
	Store target 3D pose keypoints. More...

void	setObjModelProjector (std::shared_ptr< ObjectModelProjector > objModelProjector)
	Store a deep copy of the object model projector. More...

std::shared_ptr< ObjectModelProjector >	getObjModelProjector ()
	Return the target object model projector. More...

bool	isObjModelProjectorInitialized ()
	Check whether the object model projector is initialized. More...

void	setBbox3D (const Eigen::Vector2d &pt_world_feet, NvDsObj3DBbox &bbox3DWorld, float(*bbox3DImg)[2])
	Set 3D bounding box information. More...

const bool	needTargetIDAssigned ()
	Report whether the target is ready for target ID assignment. More...

void	resetNeedTargetIDAssigned ()
	Clear the target ID assignment request. More...

const bool	ready4ReAssoc ()
	Report whether the target is ready for reassociation. More...

void	resetReady4ReAssoc ()
	Clear the reassociation-ready flag. More...

const bool	needToRemoveFromPendingReAssocDB ()
	Report whether the target must leave the pending reassociation database. More...

void	resetNeedToRemoveFromPendingReAssocDB ()
	Clear the pending reassociation database removal flag. More...

const bool	getStateUseAspc ()
	Report whether the state estimator uses aspect ratio. More...

void	getReidFeaturesDet_h (const float **ptr, int &reidFeatureSize)
	Return the detection ReID feature pointer and size. More...

void	setReidFeaturesDet_h (const float *ptr, int reidFeatureSize)
	Store detection ReID feature metadata and persist non-empty features. More...

const std::vector< float > &	getPersistentReidFeature () const
	Return the last persisted non-empty ReID feature. More...

float	getTargetHeight () const
	Return the estimated target height or the default human height. More...

float	getHeightConfidence () const
	Return the confidence of the estimated target height. More...

void	setTargetHeight (float height, float confidence, bool force=false)
	Update the estimated target height when an object model projector is available. More...

float	getMinPoseConfidence () const
	Return the minimum pose confidence or its default value. More...

Eigen::Matrix2d	getLocCovariance () const
	Return the location covariance from the state estimator. More...

bool	usesProjectiveEstimator () const
	Report whether the target uses a projective state estimator. More...

bool	hasBeenActive () const
	Report whether the target has ever reached ACTIVE state. More...

const bool	needToReAssocFromReidService ()
	Report whether the target requires ReID-service reassociation. More...

void	setNeedToReAssocFromReidService (const bool flag)
	Set whether the target requires ReID-service reassociation. More...

void	resetNeedToReAssocFromReidService ()
	Clear the ReID-service reassociation flag. More...

const bool	adoptedReidServiceID ()
	Report whether the target adopted an ID from the ReID service. More...

void	setAdoptedReidServiceID (const bool flag)
	Set whether the target adopted an ID from the ReID service. More...

const TargetId	getTargetIDBeforeAdoption ()
	Return the target ID held before ReID-service adoption. More...

void	setTargetIDBeforeAdoption (const TargetId targetID)
	Store the target ID held before ReID-service adoption. More...

const TargetId	getTargetIDFromReidService ()
	Return the target ID assigned by the ReID service. More...

void	setTargetIDFromReidService (const TargetId targetID)
	Store the target ID assigned by the ReID service. More...

void	setReidServiceAssocResponse (const std::map< TargetId, reidServiceAssocInfo > reidServiceAssocResponseMap)
	Store association responses returned by the ReID service. More...

const std::map< TargetId, reidServiceAssocInfo > &	getReidServiceAssocResponse ()
	Return association responses from the ReID service. More...

float	getReidServiceMatchConfidence (const TargetId targetID)
	Return the ReID-service match confidence for a target ID. More...

Protected Attributes
const NvTrackerParamsTargetManager *	m_params
	Configuration parameters for target management. More...

std::shared_ptr< ObjectModelProjector >	m_objModelProjector
	Refine bbox based on 3D object model. More...

const TrackerIndex	m_targetInd
	Index of this target in the allocated memory layout. More...

TargetInfo	m_targetInfo
	Tracked target information. More...

std::atomic< TargetId >	m_targetID
	Unique target ID. More...

std::atomic< TimeStamp >	m_targetIDTimeStamp
	Time at which the target ID was created. More...

std::atomic< bool >	m_becameActive
	Indicates whether the target became ACTIVE in the current frame. More...

bool	m_hasBeenActive
	Indicates whether the target has ever transitioned to ACTIVE. More...

std::atomic< bool >	m_acquiredID
	Indicates whether the target acquired an ID for the first time. More...

std::vector< PeerTarget >	m_peerTargets
	Peer targets from other cameras. More...

MultiViewAssociatorParams	m_multiViewParams
	Parameters for the multi-view associator. More...

NvMotDataTypes::Rect2f	m_searchRegion
	Given a target bbox, expand the bbox to some extent to define a search region. More...

NvMotDataTypes::Rect2f	m_predictedSearchRegion
	Given a search region, predict the search region for the next frame. More...

NvMotDataTypes::Rect2f	m_progBbox
	Progressed bounding box generated by segmenter. More...

NvMOTMask	m_maskOriginal
	Object segmentation mask in original streammux coordinates. More...

bool	m_needToSetTargetID
	Indicates whether this target is ready for target ID assignment. More...

bool	m_ready4ReAssoc
	Indicates whether this target is ready for reassociation. More...

bool	m_needToRemoveFromPendingReAssocDB
	Indicates whether the target must leave the pending reassociation database after becoming ACTIVE. More...

bool	m_needToReAssocFromReidService
	Indicates whether this target requires ReID-service reassociation. More...

TargetId	m_targetIDFromReidService
	Target ID assigned by the ReID service. More...

std::map< TargetId, reidServiceAssocInfo >	m_reidServiceAssocResponseMap
	Association information returned by the ReID service. More...

bool	m_adoptedReidServiceID
	Indicates whether an ID was adopted from the ReID service in the current frame. More...

TargetId	m_targetIDBeforeAdoption
	Target ID held before ReID-service adoption in the current frame. More...

float	m_peakCorrResp_long
	Peak correlation response over a long interval. More...

float	m_peakCorrResp_short
	Exponentially averaged peak correlation response over a short interval. More...

std::deque< TargetInfo >	m_pastFrameDataBuffer
	Buffer storing past-frame data. More...

std::list< TargetInfo >	m_trajectoryBuffer
	Record the whole trajectory. More...

int	m_trajectorySkipInterval
	Frame interval between stored trajectory points. More...

std::shared_ptr< IEstimator2 >	m_stateEstimator
	State estimator such as a Kalman or moving-average filter. More...

std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > >	m_measList
	Measurements, covariances, and detector-source flags for the state estimator. More...

std::vector< float >	m_confidenceCorrRespAtDetectedPts
	Visual-tracker confidence scores at detected points. More...

std::vector< float >	m_corrRespAtDetectedPts
	Visual-tracker correlation responses at detected points. More...

std::vector< float >	m_confidenceReidDets
	ReID feature-similarity confidence for each detection. More...

std::vector< std::vector< float > >	m_confidenceListReidDets
	Detection confidence values from multiple ReID models. More...

std::vector< int >	m_confidenceReidDetsFrameNum
	Frame number associated with each extracted ReID feature. More...

std::vector< float >	m_disMahalanobisDets
	Mahalanobis distance between the target and each detection. More...

const float *	m_reidFeaturesDet_h
	Target ReID feature data. More...

int	m_reidFeatureSize = 0
	Number of values in each ReID feature. More...

std::vector< float >	m_persistentReidFeature
	Persisted copy of the last non-null embedding; survives non-extraction frames. More...

bool	m_isOffline = false
	Indicates whether the tracked object is part of online tracking or offline metadata fusion. More...

Constructor & Destructor Documentation

◆ NvTrackedObject() [1/2]

NvTrackedObject::NvTrackedObject	(	const std::string &	configFilePath,
		const NvTrackerParamsTargetManager *	params,
		const TrackerIndex	trackerInd
	)

Initialize a tracked target and its estimator.

Parameters

[in]	configFilePath	Path to the tracker configuration file.
[in]	params	Parsed target-manager parameters.
[in]	trackerInd	Index of this target in the allocated memory layout.

◆ ~NvTrackedObject() [1/2]

virtual NvTrackedObject::~NvTrackedObject ( )

virtual

Release resources owned by the tracked target.

◆ NvTrackedObject() [2/2]

NvTrackedObject::NvTrackedObject	(	const std::string &	configFilePath,
		const NvTrackerParamsTargetManager *	params,
		const TrackerIndex	trackerInd
	)

Initialize a tracked target and its estimator.

Parameters

[in]	configFilePath	Path to the tracker configuration file.
[in]	params	Parsed target-manager parameters.
[in]	trackerInd	Index of this target in the allocated memory layout.

◆ ~NvTrackedObject() [2/2]

virtual NvTrackedObject::~NvTrackedObject ( )

virtual

Release resources owned by the tracked target.

Member Function Documentation

◆ acquiredID() [1/2]

const bool NvTrackedObject::acquiredID ( )

inline

Report whether the target acquired an ID for the first time.

Definition at line 430 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_acquiredID.

◆ acquiredID() [2/2]

const bool NvTrackedObject::acquiredID ( )

inline

Report whether the target acquired an ID for the first time.

Definition at line 430 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_acquiredID.

◆ addConfidenceListReidDets() [1/2]

void NvTrackedObject::addConfidenceListReidDets	(	const float *	ptr,
		const size_t	length
	)

inline

Append a model's ReID confidence values.

Parameters

[in]	ptr	Pointer to the confidence values.
[in]	length	Number of confidence values.

Definition at line 536 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceListReidDets.

◆ addConfidenceListReidDets() [2/2]

void NvTrackedObject::addConfidenceListReidDets	(	const float *	ptr,
		const size_t	length
	)

inline

Append a model's ReID confidence values.

Parameters

[in]	ptr	Pointer to the confidence values.
[in]	length	Number of confidence values.

Definition at line 536 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceListReidDets.

◆ addPastFrameData() [1/2]

void NvTrackedObject::addPastFrameData ( )

Add the target info for the current frame into a buffer for later reporting.

◆ addPastFrameData() [2/2]

void NvTrackedObject::addPastFrameData ( )

Add the target info for the current frame into a buffer for later reporting.

◆ adoptedReidServiceID() [1/2]

const bool NvTrackedObject::adoptedReidServiceID ( )

inline

Report whether the target adopted an ID from the ReID service.

Definition at line 731 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_adoptedReidServiceID.

◆ adoptedReidServiceID() [2/2]

const bool NvTrackedObject::adoptedReidServiceID ( )

◆ becameActive() [2/2]

const bool NvTrackedObject::becameActive ( )

inline

Report whether the target became ACTIVE in the current frame.

Definition at line 421 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_becameActive.

◆ defineSearchRegion() [1/2]

const NvMotDataTypes::Rect2f NvTrackedObject::defineSearchRegion ( const NvMotDataTypes::Rect2f bbox ) const

Expand a target bounding box into its search region.

Parameters

[in] bbox Target bounding box to expand.

◆ defineSearchRegion() [2/2]

const NvMotDataTypes::Rect2f NvTrackedObject::defineSearchRegion ( const NvMotDataTypes::Rect2f bbox ) const

Expand a target bounding box into its search region.

Parameters

[in] bbox Target bounding box to expand.

◆ fuseOverlappingTracklets() [1/2]

std::list<TargetInfo> NvTrackedObject::fuseOverlappingTracklets	(	const std::list< TargetInfo > &	tracklet,
		const std::list< TargetInfo > &	peerTracklet
	)

Fuse the peer's tracklet into the target's.

Parameters

[in]	tracklet	This target's tracklet.
[in]	peerTracklet	Peer tracklet fused with the target tracklet.

Returns: Fused tracklet, or the target tracklet when either input is empty.

◆ fuseOverlappingTracklets() [2/2]

std::list<TargetInfo> NvTrackedObject::fuseOverlappingTracklets	(	const std::list< TargetInfo > &	tracklet,
		const std::list< TargetInfo > &	peerTracklet
	)

Fuse the peer's tracklet into the target's.

Parameters

[in]	tracklet	This target's tracklet.
[in]	peerTracklet	Peer tracklet fused with the target tracklet.

Returns: Fused tracklet, or the target tracklet when either input is empty.

◆ generateTrackedObjects4Reid() [1/2]

std::map<NvMOTStreamId, std::deque<DetectedObjInfo> > NvTrackedObject::generateTrackedObjects4Reid ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

Package this target for ReID extraction when eligible.

Parameters

[in] inputMeta Input frames keyed by video stream ID.

const NvMotDataTypes::Rect2f NvTrackedObject::getPredictedTargetBbox ( )

inline

Return the bounding box predicted by the state estimator.

Definition at line 406 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References CV_FUNCS::convertXToBbox(), and m_stateEstimator.

◆ getPredictedTargetBbox() [2/2]

const NvMotDataTypes::Rect2f NvTrackedObject::getPredictedTargetBbox ( )

inline

Return the bounding box predicted by the state estimator.

Definition at line 406 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References CV_FUNCS::convertXToBbox(), and m_stateEstimator.

◆ getProgBbox() [1/2]

const NvMotDataTypes::Rect2f NvTrackedObject::getProgBbox ( ) const

inline

Return the progressed bounding box generated by the segmenter.

Definition at line 344 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_progBbox.

◆ getProgBbox() [2/2]

const NvMotDataTypes::Rect2f NvTrackedObject::getProgBbox ( ) const

inline

Return the progressed bounding box generated by the segmenter.

Definition at line 344 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_progBbox.

◆ getReidFeaturesDet_h() [1/2]

void NvTrackedObject::getReidFeaturesDet_h	(	const float **	ptr,
		int &	reidFeatureSize
	)

inline

Return the detection ReID feature pointer and size.

Parameters

[out]	ptr	Pointer updated with the ReID feature address.
[out]	reidFeatureSize	Number of values in the ReID feature.

Definition at line 646 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_reidFeaturesDet_h, and m_reidFeatureSize.

◆ getReidFeaturesDet_h() [2/2]

void NvTrackedObject::getReidFeaturesDet_h	(	const float **	ptr,
		int &	reidFeatureSize
	)

inline

Return the detection ReID feature pointer and size.

Parameters

[out]	ptr	Pointer updated with the ReID feature address.
[out]	reidFeatureSize	Number of values in the ReID feature.

Definition at line 646 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_reidFeaturesDet_h, and m_reidFeatureSize.

◆ getReidServiceAssocResponse() [1/2]

const std::map<TargetId, reidServiceAssocInfo>& NvTrackedObject::getReidServiceAssocResponse ( )

inline

Return association responses from the ReID service.

Definition at line 767 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

void NvTrackedObject::initializeQuasiActiveStates	(	const NvMOTFrameNum	frameNum,
		const PeerTarget *	peerTarget
	)

Initialize a target tracked by a peer camera in quasi-active state.

Parameters

[in]	frameNum	Current frame number.
[in]	peerTarget	Peer-camera target used to initialize target information.

◆ initializeQuasiActiveStates() [2/2]

void NvTrackedObject::initializeQuasiActiveStates	(	const NvMOTFrameNum	frameNum,
		const PeerTarget *	peerTarget
	)

Initialize a target tracked by a peer camera in quasi-active state.

Parameters

[in]	frameNum	Current frame number.
[in]	peerTarget	Peer-camera target used to initialize target information.

◆ isObjModelProjectorInitialized() [1/2]

bool NvTrackedObject::isObjModelProjectorInitialized ( )

Check whether the object model projector is initialized.

Returns: True when the object model projector is initialized.

◆ isObjModelProjectorInitialized() [2/2]

bool NvTrackedObject::isObjModelProjectorInitialized ( )

Check whether the object model projector is initialized.

Returns: True when the object model projector is initialized.

◆ purgeTrajectoryBufferUntilSpecified() [1/2]

void NvTrackedObject::purgeTrajectoryBufferUntilSpecified ( const NvMOTFrameNum frameNum )

Purge the trajectory buffer until the frame num specified.

Parameters

[in] frameNum Newest frame number that is kept; later points are removed.

◆ purgeTrajectoryBufferUntilSpecified() [2/2]

void NvTrackedObject::setBbox3D	(	const Eigen::Vector2d &	pt_world_feet,
		NvDsObj3DBbox &	bbox3DWorld,
		float(*)	bbox3DImg[2]
	)

Set 3D bounding box information.

Parameters

[in]	pt_world_feet	World coordinates of the feet point.
[out]	bbox3DWorld	3D bounding box in world coordinates.
[out]	bbox3DImg	2D projection of the 3D bounding box corners, eight corners with x and y coordinates.

◆ setBbox3D() [2/2]

void NvTrackedObject::setBbox3D	(	const Eigen::Vector2d &	pt_world_feet,
		NvDsObj3DBbox &	bbox3DWorld,
		float(*)	bbox3DImg[2]
	)

Set 3D bounding box information.

Parameters

[in]	pt_world_feet	World coordinates of the feet point.
[out]	bbox3DWorld	3D bounding box in world coordinates.
[out]	bbox3DImg	2D projection of the 3D bounding box corners, eight corners with x and y coordinates.

◆ setBecameActive() [1/2]

void NvTrackedObject::setBecameActive ( const bool flag )

inline

Set whether the target became ACTIVE in the current frame.

Parameters

[in] flag New became-ACTIVE flag value.

Definition at line 427 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_becameActive.

◆ setBecameActive() [2/2]

void NvTrackedObject::setBecameActive ( const bool flag )

inline

Set whether the target became ACTIVE in the current frame.

Parameters

[in] flag New became-ACTIVE flag value.

Definition at line 427 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_becameActive.

◆ setConfidenceCorrRespAtDetectedPts() [1/2]

void NvTrackedObject::setConfidenceCorrRespAtDetectedPts	(	const float *	ptr,
		const size_t	length
	)

inline

Store confidence-weighted correlation responses at detected points.

Parameters

[in]	ptr	Pointer to the response values.
[in]	length	Number of response values.

Definition at line 491 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceCorrRespAtDetectedPts.

◆ setConfidenceCorrRespAtDetectedPts() [2/2]

void NvTrackedObject::setConfidenceCorrRespAtDetectedPts	(	const float *	ptr,
		const size_t	length
	)

inline

Store confidence-weighted correlation responses at detected points.

Parameters

[in]	ptr	Pointer to the response values.
[in]	length	Number of response values.

Definition at line 491 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceCorrRespAtDetectedPts.

◆ setConfidenceReidDets() [1/4]

void NvTrackedObject::setConfidenceReidDets	(	const float *	ptr,
		const size_t	length
	)

inline

Store ReID confidence values for detections.

Parameters

[in]	ptr	Pointer to the confidence values.
[in]	length	Number of confidence values.

Definition at line 517 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceReidDets.

◆ setConfidenceReidDets() [2/4]

void NvTrackedObject::setConfidenceReidDets	(	const float *	ptr,
		const size_t	length
	)

inline

Store ReID confidence values for detections.

Parameters

[in]	ptr	Pointer to the confidence values.
[in]	length	Number of confidence values.

Definition at line 517 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_confidenceReidDets.

◆ setConfidenceReidDets() [3/4]

void NvTrackedObject::setConfidenceReidDets ( std::vector< float > vec )

inline

Move ReID confidence values into the target.

Parameters

[in] vec ReID confidence values to store.

Definition at line 526 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_confidenceReidDets, and absl::move().

◆ setConfidenceReidDets() [4/4]

void NvTrackedObject::setConfidenceReidDets ( std::vector< float > vec )

inline

Move ReID confidence values into the target.

Parameters

[in] vec ReID confidence values to store.

Definition at line 526 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_confidenceReidDets, and absl::move().

◆ setConfidenceReidDetsFrameNum() [1/2]

void NvTrackedObject::setConfidenceReidDetsFrameNum ( const std::vector< int > input )

inline

Store frame numbers associated with ReID confidence values.

Parameters

[in] input Frame numbers to store.

Definition at line 548 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_confidenceReidDetsFrameNum.

◆ setConfidenceReidDetsFrameNum() [2/2]

void NvTrackedObject::setConfidenceReidDetsFrameNum ( const std::vector< int > input )

inline

Store frame numbers associated with ReID confidence values.

Parameters

[in] input Frame numbers to store.

Definition at line 548 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_confidenceReidDetsFrameNum.

◆ setCorrRespAtDetectedPts() [1/2]

void NvTrackedObject::setCorrRespAtDetectedPts	(	const float *	ptr,
		const size_t	length
	)

inline

Store correlation responses at detected points.

Parameters

[in]	ptr	Pointer to the response values.
[in]	length	Number of response values.

Definition at line 504 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_corrRespAtDetectedPts.

◆ setCorrRespAtDetectedPts() [2/2]

void NvTrackedObject::setCorrRespAtDetectedPts	(	const float *	ptr,
		const size_t	length
	)

inline

Store correlation responses at detected points.

Parameters

[in]	ptr	Pointer to the response values.
[in]	length	Number of response values.

Definition at line 504 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), and m_corrRespAtDetectedPts.

◆ setDisMahalanobisDets() [1/2]

void NvTrackedObject::setDisMahalanobisDets ( const std::vector< float > disVec )

inline

Store Mahalanobis distances from the target to detections.

Parameters

[in] disVec Mahalanobis distances to store.

Definition at line 557 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_disMahalanobisDets.

◆ setDisMahalanobisDets() [2/2]

void NvTrackedObject::setDisMahalanobisDets ( const std::vector< float > disVec )

inline

Store Mahalanobis distances from the target to detections.

Parameters

[in] disVec Mahalanobis distances to store.

Definition at line 557 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_disMahalanobisDets.

◆ setLocalizationResults() [1/2]

void NvTrackedObject::setLocalizationResults	(	const NvMOTFrameNum	frameNum,
		const float	trackingConfidence,
		const NvMotDataTypes::Rect2f &	localizationBbox
	)

Update localization states from the current tracker result.

Parameters

[in]	frameNum	Current frame number.
[in]	trackingConfidence	Current tracking confidence.
[in]	localizationBbox	Localized bounding box.

◆ setLocalizationResults() [2/2]

void NvTrackedObject::setLocalizationResults	(	const NvMOTFrameNum	frameNum,
		const float	trackingConfidence,
		const NvMotDataTypes::Rect2f &	localizationBbox
	)

Update localization states from the current tracker result.

Parameters

[in]	frameNum	Current frame number.
[in]	trackingConfidence	Current tracking confidence.
[in]	localizationBbox	Localized bounding box.

◆ setNeedTargetIDAssigned() [1/2]

void NvTrackedObject::setNeedTargetIDAssigned ( )

inline

Mark the target as ready for target ID assignment.

Definition at line 448 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

void NvTrackedObject::setObjModelProjector ( std::shared_ptr< ObjectModelProjector > objModelProjector )

Store a deep copy of the object model projector.

void NvTrackedObject::setPose25d	(	const float *	ptr,
		const size_t	length
	)

inline

Store target 2.5D pose keypoints.

Parameters

[in]	ptr	Pointer to the pose values.
[in]	length	Number of pose values.

Definition at line 585 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), m_targetInfo, and TargetInfo::pose25d.

◆ setPose25d() [2/2]

void NvTrackedObject::setPose25d	(	const float *	ptr,
		const size_t	length
	)

inline

Store target 2.5D pose keypoints.

Parameters

[in]	ptr	Pointer to the pose values.
[in]	length	Number of pose values.

Definition at line 585 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), m_targetInfo, and TargetInfo::pose25d.

◆ setPose3d() [1/2]

void NvTrackedObject::setPose3d	(	const float *	ptr,
		const size_t	length
	)

inline

Store target 3D pose keypoints.

Parameters

[in]	ptr	Pointer to the pose values.
[in]	length	Number of pose values.

Definition at line 595 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), m_targetInfo, and TargetInfo::pose3d.

◆ setPose3d() [2/2]

void NvTrackedObject::setPose3d	(	const float *	ptr,
		const size_t	length
	)

inline

Store target 3D pose keypoints.

Parameters

[in]	ptr	Pointer to the pose values.
[in]	length	Number of pose values.

Definition at line 595 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References length(), m_targetInfo, and TargetInfo::pose3d.

◆ setProgBbox() [1/2]

void NvTrackedObject::setProgBbox ( const NvMotDataTypes::Rect2f & bbox )

inline

Store the progressed bounding box generated by the segmenter.

Parameters

[in] bbox Progressed target bounding box.

Definition at line 350 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_progBbox.

◆ setProgBbox() [2/2]

void NvTrackedObject::setProgBbox ( const NvMotDataTypes::Rect2f & bbox )

inline

Store the progressed bounding box generated by the segmenter.

Parameters

[in] bbox Progressed target bounding box.

Definition at line 350 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_progBbox.

◆ setReidFeaturesDet_h() [1/2]

void NvTrackedObject::setReidFeaturesDet_h	(	const float *	ptr,
		int	reidFeatureSize
	)

inline

Store detection ReID feature metadata and persist non-empty features.

Parameters

[in]	ptr	Pointer to the detection ReID feature.
[in]	reidFeatureSize	Number of values in the ReID feature.

Persist a copy of every non-null embedding so getPersistentReidFeature() is always valid.

Definition at line 657 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_persistentReidFeature, m_reidFeaturesDet_h, and m_reidFeatureSize.

◆ setReidFeaturesDet_h() [2/2]

void NvTrackedObject::setReidFeaturesDet_h	(	const float *	ptr,
		int	reidFeatureSize
	)

inline

Store detection ReID feature metadata and persist non-empty features.

Parameters

[in]	ptr	Pointer to the detection ReID feature.
[in]	reidFeatureSize	Number of values in the ReID feature.

Persist a copy of every non-null embedding so getPersistentReidFeature() is always valid.

Definition at line 657 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_persistentReidFeature, m_reidFeaturesDet_h, and m_reidFeatureSize.

◆ setReidServiceAssocResponse() [1/2]

void NvTrackedObject::setReidServiceAssocResponse ( const std::map< TargetId, reidServiceAssocInfo > reidServiceAssocResponseMap )

inline

Store association responses returned by the ReID service.

Parameters

[in] reidServiceAssocResponseMap ReID-service responses keyed by target ID.

Definition at line 761 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_reidServiceAssocResponseMap.

◆ setReidServiceAssocResponse() [2/2]

void NvTrackedObject::setReidServiceAssocResponse ( const std::map< TargetId, reidServiceAssocInfo > reidServiceAssocResponseMap )

inline

Store association responses returned by the ReID service.

Parameters

[in] reidServiceAssocResponseMap ReID-service responses keyed by target ID.

Definition at line 761 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_reidServiceAssocResponseMap.

◆ setSegmentationMask() [1/2]

void NvTrackedObject::setSegmentationMask ( const NvMOTMask mask )

inline

Store the target segmentation mask.

Parameters

[in] mask Segmentation mask in original streammux coordinates.

Definition at line 566 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_maskOriginal.

◆ setSegmentationMask() [2/2]

void NvTrackedObject::setSegmentationMask ( const NvMOTMask mask )

inline

Store the target segmentation mask.

Parameters

[in] mask Segmentation mask in original streammux coordinates.

Definition at line 566 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_maskOriginal.

◆ setTargetHeight() [1/2]

void NvTrackedObject::setTargetHeight	(	float	height,
		float	confidence,
		bool	force = `false`
	)

inline

Update the estimated target height when an object model projector is available.

Parameters

[in]	height	Target height in world coordinates.
[in]	confidence	Confidence of the target-height estimate.
[in]	force	Forces the object model projector to accept the update when true.

Definition at line 689 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_objModelProjector.

◆ setTargetHeight() [2/2]

void NvTrackedObject::setTargetHeight	(	float	height,
		float	confidence,
		bool	force = `false`
	)

inline

Update the estimated target height when an object model projector is available.

Parameters

[in]	height	Target height in world coordinates.
[in]	confidence	Confidence of the target-height estimate.
[in]	force	Forces the object model projector to accept the update when true.

Definition at line 689 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_objModelProjector.

◆ setTargetID() [1/2]

void NvTrackedObject::setTargetID ( const TargetId newTargetID )

inline

Set the unique target ID.

Parameters

[in] newTargetID New unique target ID.

Definition at line 383 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetID.

◆ setTargetID() [2/2]

void NvTrackedObject::setTargetID ( const TargetId newTargetID )

inline

Set the unique target ID.

Parameters

[in] newTargetID New unique target ID.

Definition at line 383 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetID.

◆ setTargetIDBeforeAdoption() [1/2]

void NvTrackedObject::setTargetIDBeforeAdoption ( const TargetId targetID )

inline

Store the target ID held before ReID-service adoption.

Parameters

[in] targetID Target ID to preserve before adoption.

Definition at line 746 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDBeforeAdoption.

◆ setTargetIDBeforeAdoption() [2/2]

void NvTrackedObject::setTargetIDBeforeAdoption ( const TargetId targetID )

inline

Store the target ID held before ReID-service adoption.

Parameters

[in] targetID Target ID to preserve before adoption.

Definition at line 746 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDBeforeAdoption.

◆ setTargetIDFromReidService() [1/2]

void NvTrackedObject::setTargetIDFromReidService ( const TargetId targetID )

inline

Store the target ID assigned by the ReID service.

Parameters

[in] targetID Target ID assigned by the ReID service.

Definition at line 755 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDFromReidService.

◆ setTargetIDFromReidService() [2/2]

void NvTrackedObject::setTargetIDFromReidService ( const TargetId targetID )

inline

Store the target ID assigned by the ReID service.

Parameters

[in] targetID Target ID assigned by the ReID service.

Definition at line 755 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDFromReidService.

◆ setTargetIDTimeStamp() [1/2]

void NvTrackedObject::setTargetIDTimeStamp ( const TimeStamp time )

inline

Set the timestamp at which the target ID was created.

Parameters

[in] time Target ID creation timestamp.

Definition at line 418 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDTimeStamp.

◆ setTargetIDTimeStamp() [2/2]

void NvTrackedObject::setTargetIDTimeStamp ( const TimeStamp time )

inline

Set the timestamp at which the target ID was created.

Parameters

[in] time Target ID creation timestamp.

Definition at line 418 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetIDTimeStamp.

◆ setTargetInfo() [1/2]

void NvTrackedObject::setTargetInfo ( const TargetInfo & tInfo )

inline

Replace the current target information.

Parameters

[in] tInfo Target information to store.

Definition at line 332 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo.

◆ setTargetInfo() [2/2]

void NvTrackedObject::setTargetInfo ( const TargetInfo & tInfo )

inline

Replace the current target information.

Parameters

[in] tInfo Target information to store.

Definition at line 332 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo.

◆ setTrackerState() [1/2]

void NvTrackedObject::setTrackerState ( const TRACKER_STATE state )

inline

Set the current tracker state.

Parameters

[in] state New tracker state.

Definition at line 371 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo, and TargetInfo::trackerState.

◆ setTrackerState() [2/2]

void NvTrackedObject::setTrackerState ( const TRACKER_STATE state )

inline

Set the current tracker state.

Parameters

[in] state New tracker state.

Definition at line 371 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo, and TargetInfo::trackerState.

◆ setTrajectoryBuffer() [1/2]

void NvTrackedObject::setTrajectoryBuffer ( const std::list< TargetInfo > & traj )

inline

Replace the target trajectory buffer.

Parameters

[in] traj Trajectory points to store.

Definition at line 403 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_trajectoryBuffer.

◆ setTrajectoryBuffer() [2/2]

void NvTrackedObject::setTrajectoryBuffer ( const std::list< TargetInfo > & traj )

inline

Replace the target trajectory buffer.

Parameters

[in] traj Trajectory points to store.

Definition at line 403 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_trajectoryBuffer.

◆ setVideoStreamId() [1/2]

void NvTrackedObject::setVideoStreamId ( const NvMOTStreamId videoStreamId )

inline

Set the video stream associated with this target.

Parameters

[in] videoStreamId Video stream ID associated with the target.

Definition at line 317 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo, and TargetInfo::videoStreamId.

◆ setVideoStreamId() [2/2]

void NvTrackedObject::setVideoStreamId ( const NvMOTStreamId videoStreamId )

inline

Set the video stream associated with this target.

Parameters

[in] videoStreamId Video stream ID associated with the target.

Definition at line 317 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References m_targetInfo, and TargetInfo::videoStreamId.

◆ updateTargetStates() [1/4]

void NvTrackedObject::updateTargetStates ( const NvMOTFrameNum frameNum )

Update the states with its own prediction because of no-inference frame.

Parameters

[in] frameNum Frame number of the prediction update.

◆ updateTargetStates() [2/4]

void NvTrackedObject::updateTargetStates ( const NvMOTFrameNum frameNum )

Update the states with its own prediction because of no-inference frame.

Parameters

[in] frameNum Frame number of the prediction update.

◆ updateTargetStates() [3/4]

void NvTrackedObject::updateTargetStates	(	const NvMOTFrameNum	frameNum,
		const DetectedObjInfo *	debObj,
		TRACKER_STATE	state
	)

Update the states with the new measurement.

Parameters

[in]	frameNum	Current frame number.
[in]	debObj	Detected object from the input metadata.
[in]	state	New tracker state.

◆ updateTargetStates() [4/4]

void NvTrackedObject::updateTargetStates	(	const NvMOTFrameNum	frameNum,
		const DetectedObjInfo *	debObj,
		TRACKER_STATE	state
	)

Update the states with the new measurement.

Parameters

[in]	frameNum	Current frame number.
[in]	debObj	Detected object from the input metadata.
[in]	state	New tracker state.

◆ updateTrajectoryBuffer() [1/2]

void NvTrackedObject::updateTrajectoryBuffer ( )

Add the current target info to the trajectory buffer.

◆ updateTrajectoryBuffer() [2/2]

void NvTrackedObject::updateTrajectoryBuffer ( )

Add the current target info to the trajectory buffer.

◆ usesProjectiveEstimator() [1/2]

bool NvTrackedObject::usesProjectiveEstimator ( ) const

inline

Report whether the target uses a projective state estimator.

Definition at line 710 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References LOCATION_ESTIMATOR_PROJECTIVE, and m_stateEstimator.

◆ usesProjectiveEstimator() [2/2]

bool NvTrackedObject::usesProjectiveEstimator ( ) const

inline

Report whether the target uses a projective state estimator.

Definition at line 710 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

References LOCATION_ESTIMATOR_PROJECTIVE, and m_stateEstimator.

◆ m_measList

std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > NvTrackedObject::m_measList

protected

Measurements, covariances, and detector-source flags for the state estimator.

Definition at line 825 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

const NvTrackerParamsTargetManager * NvTrackedObject::m_params

protected

Configuration parameters for target management.

Definition at line 786 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

◆ m_pastFrameDataBuffer

std::deque< TargetInfo > NvTrackedObject::m_pastFrameDataBuffer

protected

Buffer storing past-frame data.

Definition at line 821 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

Referenced by getPastFrameData(), and resetPastFrameData().

int NvTrackedObject::m_trajectorySkipInterval

protected

Frame interval between stored trajectory points.

Definition at line 823 of file sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp.

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

sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/NvTrackedObject.hpp


NVIDIA DeepStream SDK API Reference	9.2 Release

NVIDIA DeepStream SDK API Reference

9.2 Release

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ NvTrackedObject() [1/2]

◆ ~NvTrackedObject() [1/2]

◆ NvTrackedObject() [2/2]

◆ ~NvTrackedObject() [2/2]

Member Function Documentation

◆ acquiredID() [1/2]

◆ acquiredID() [2/2]

◆ addConfidenceListReidDets() [1/2]

◆ addConfidenceListReidDets() [2/2]

◆ addPastFrameData() [1/2]

◆ addPastFrameData() [2/2]

◆ adoptedReidServiceID() [1/2]

◆ adoptedReidServiceID() [2/2]

◆ adoptPastFrameData() [1/2]

◆ adoptPastFrameData() [2/2]

◆ adoptTracklet() [1/2]

◆ adoptTracklet() [2/2]

◆ becameActive() [1/2]

◆ becameActive() [2/2]

◆ defineSearchRegion() [1/2]

◆ defineSearchRegion() [2/2]

◆ fuseOverlappingTracklets() [1/2]

◆ fuseOverlappingTracklets() [2/2]

◆ generateTrackedObjects4Reid() [1/2]

◆ generateTrackedObjects4Reid() [2/2]

◆ getAge() [1/2]

◆ getAge() [2/2]

◆ getClassId() [1/2]

◆ getClassId() [2/2]

◆ getConfidenceCorrRespAtDetectedPts() [1/2]

◆ getConfidenceCorrRespAtDetectedPts() [2/2]

◆ getConfidenceListReidDets() [1/2]

◆ getConfidenceListReidDets() [2/2]

◆ getConfidenceReidDets() [1/2]

◆ getConfidenceReidDets() [2/2]

◆ getConfidenceReidDetsFrameNum() [1/2]

◆ getConfidenceReidDetsFrameNum() [2/2]

◆ getCorrRespAtDetectedPts() [1/2]

◆ getCorrRespAtDetectedPts() [2/2]

◆ getDisMahalanobisDets() [1/2]

◆ getDisMahalanobisDets() [2/2]

◆ getDistFromCam() [1/2]

◆ getDistFromCam() [2/2]

◆ getHeightConfidence() [1/2]

◆ getHeightConfidence() [2/2]

◆ getlastFrameinTraj() [1/2]

◆ getlastFrameinTraj() [2/2]

◆ getLocCovariance() [1/2]

◆ getLocCovariance() [2/2]

◆ getMatchedDetObj() [1/2]

◆ getMatchedDetObj() [2/2]

◆ getMatchedDetObjInd() [1/2]

◆ getMatchedDetObjInd() [2/2]

◆ getMinPoseConfidence() [1/2]

◆ getMinPoseConfidence() [2/2]

◆ getObjModelProjector() [1/2]

◆ getObjModelProjector() [2/2]

◆ getPastFrameData() [1/2]

◆ getPastFrameData() [2/2]

◆ getPeerTargets() [1/2]

◆ getPeerTargets() [2/2]

◆ getPersistentReidFeature() [1/2]

◆ getPersistentReidFeature() [2/2]

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPredictedMeasurementsWithCov() [1/2]

◆ getPredictedMeasurementsWithCov() [2/2]

◆ getPredictedSearchRegion() [1/2]

◆ getPredictedSearchRegion() [2/2]

◆ getPredictedStatesWithCov() [1/2]

◆ getPredictedStatesWithCov() [2/2]

◆ getPredictedTargetBbox() [1/2]

◆ getPredictedTargetBbox() [2/2]

◆ getProgBbox() [1/2]