Detailed Description

Manage target IDs, archived trajectories, and trajectory reassociation.

Definition at line 229 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

Inheritance diagram for NvTrajectoryManager:

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Collaboration diagram for NvTrajectoryManager:

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Data Structures
struct	ReAssocStats
	Re-association pipeline counters: dumped to stderr at destructor time. More...

Public Member Functions
	NvTrajectoryManager (const std::string &configFilePath)
	Construct a trajectory manager from configuration. More...

virtual	~NvTrajectoryManager ()
	Report statistics and destroy the trajectory manager. More...

void	archiveTrajectory (const std::shared_ptr< NvTrackedObject > target)
	Store the trajectories of the terminated objects up to a certain time. More...

void	assignTargetIDs (const NvTrackedObjectList &targetList, std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject > > &toBeTerminated, const NvMOTTimeMeta &timeMeta)
	Assign target IDs and set targetIDTimeStamp. More...

void	cleanUpArchivedTrajectories (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Remove expired archived trajectories for all input streams. More...

void	cleanUpArchivedTrajectories_perStream (const NvMOTStreamId streamId, const uint32_t currFrameNum, const bool doPurge=false)
	Remove expired archived trajectories for one stream. More...

void	resetIDs ()
	Reset the unique-ID generator with a new random prefix. More...

void	purgeArchivedTrajectories ()
	Purge all archived trajectories. More...

virtual std::deque< DetectedObjInfo >	generateTrackedObjects4ReidPerStream (const NvMOTStreamId streamId, const NvTrackedObjectList &targetList)
	Generate target detections that require ReID extraction for one stream. More...

void	updateStreamIds (const std::vector< NvMOTStreamId > &streamIdsToAdd={}, const std::vector< NvMOTStreamId > &streamIdsToDel={})
	Update per-stream trajectory state when streams are added or removed. More...

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

void	setSrcFrameInfo (const NvMotDataTypes::Rect2f originalSrcImageBox, const NvMotDataTypes::Rect2f srcImageBox)
	Set source-frame geometry used for trajectory output. More...

void	setMultiViewAssociators (std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator >> multiViewAssociators)
	Set the multi-view associators. More...

const Trajectory4Archive &	getArchivedTrajectory (const NvMOTStreamId videoStreamId, const uint64_t targetId)
	Return an archived trajectory by stream and target ID. More...

const NvTrackerParamsTrajectoryManager	getParams ()
	Return a copy of trajectory-manager parameters. More...

const float	getMinVisibility4TrajDump ()
	Return the minimum visibility required for trajectory dumping. More...

const bool	getDumpDetectorBboxes ()
	Return whether detector bounding boxes are dumped. More...

	NvTrajectoryManager (const std::string &configFilePath)
	Construct a trajectory manager from configuration. More...

virtual	~NvTrajectoryManager ()
	Report statistics and destroy the trajectory manager. More...

void	archiveTrajectory (const std::shared_ptr< NvTrackedObject > target)
	Store the trajectories of the terminated objects up to a certain time. More...

void	assignTargetIDs (const NvTrackedObjectList &targetList, std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject > > &toBeTerminated, const NvMOTTimeMeta &timeMeta)
	Assign target IDs and set targetIDTimeStamp. More...

void	cleanUpArchivedTrajectories (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Remove expired archived trajectories for all input streams. More...

void	cleanUpArchivedTrajectories_perStream (const NvMOTStreamId streamId, const uint32_t currFrameNum, const bool doPurge=false)
	Remove expired archived trajectories for one stream. More...

void	resetIDs ()
	Reset the unique-ID generator with a new random prefix. More...

void	purgeArchivedTrajectories ()
	Purge all archived trajectories. More...

virtual std::deque< DetectedObjInfo >	generateTrackedObjects4ReidPerStream (const NvMOTStreamId streamId, const NvTrackedObjectList &targetList)
	Generate target detections that require ReID extraction for one stream. More...

void	updateStreamIds (const std::vector< NvMOTStreamId > &streamIdsToAdd={}, const std::vector< NvMOTStreamId > &streamIdsToDel={})
	Update per-stream trajectory state when streams are added or removed. More...

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

void	setSrcFrameInfo (const NvMotDataTypes::Rect2f originalSrcImageBox, const NvMotDataTypes::Rect2f srcImageBox)
	Set source-frame geometry used for trajectory output. More...

void	setMultiViewAssociators (std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator >> multiViewAssociators)
	Set the multi-view associators. More...

const Trajectory4Archive &	getArchivedTrajectory (const NvMOTStreamId videoStreamId, const uint64_t targetId)
	Return an archived trajectory by stream and target ID. More...

const NvTrackerParamsTrajectoryManager	getParams ()
	Return a copy of trajectory-manager parameters. More...

const float	getMinVisibility4TrajDump ()
	Return the minimum visibility required for trajectory dumping. More...

const bool	getDumpDetectorBboxes ()
	Return whether detector bounding boxes are dumped. More...

Protected Member Functions
bool	tryReAssoc (const std::shared_ptr< NvTrackedObject > target, std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject >> &toBeFused)
	Try to perform the re-assoc with the targets in the temporary DB that stores projected trajectories. More...

bool	processTrajectory (const uint64_t targetId, const NvMOTStreamId streamId, std::list< TargetInfo > &tracklet)
	Trim the tracklet by removing the last un-validated trajectory points. More...

std::list< TargetInfo >	createProjectedTrajectories (const uint64_t targetId, const NvMOTStreamId streamId, const std::list< TargetInfo > &tracklet, int overrideShadowAge=-1)
	Trim the tracklet by removing the last un-validated trajectory points and return the projected trajectory points only. More...

void	add2ProjectedTrajectoryDB (std::shared_ptr< NvTrackedObject > target)
	Add the projected trajectory to the temporary DB so that it can be re-associated. More...

void	removeFromProjectedTrajectoryDB (std::shared_ptr< NvTrackedObject > target)
	Remove from the projected trajectory DB. More...

virtual std::list< TargetInfo >	getTrimmedTraj4ReAssoc (const std::list< TargetInfo > &newTraj, const std::list< TargetInfo > &peerTraj, const NvMOTFrameNum lastTrackedFrameNum_peer)
	Get the trimmed new trajectory for reassociation with peer trajectory. More...

bool	findMatch4ReAssoc (const std::shared_ptr< NvTrackedObject > target, std::shared_ptr< NvTrackedObject > &bestMatchPeer)
	Find the best live projected-trajectory match for a target. More...

bool	findArchiveMatch4ReAssoc (const std::shared_ptr< NvTrackedObject > newTarget)
	Fallback re-association against terminated tracks in m_trajectoryArchive. More...

bool	try3DReAssoc (const std::shared_ptr< NvTrackedObject > newTarget)
	Perform archive-only world-distance and frame-gap re-association. More...

virtual float	calculateSizeSimilarityScore (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj)
	Calculate bounding-box size similarity between two trajectories. More...

const std::tuple< float, int, float, float, float, float >	calculateSimilarityBtwTracklets (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj, const float peerTrajCov)
	Calculate tracklet, direction, speed, and size similarity metrics. More...

const std::tuple< float, int, float, float, float >	calculateAssocScore4QuasiDTW (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj, const float peerTrajCov)
	Calculate quasi-DTW association metrics between two trajectories. More...

const float	computeAngleInDegree (const Eigen::Vector2f &vec1, const Eigen::Vector2f &vec2)
	Compute the angle between the two tracklets direction [degree]. More...

const float	computeSpeedSimilarity (const Eigen::Vector2f &vec1, const Eigen::Vector2f &vec2)
	Compute the speed similarity between the two tracklets. More...

const bool	detectMotion (const Eigen::Vector2f &vec, float threshold)
	Detect if a tracklet is in motion, that is, if its speed is at least the threshold. More...

void	fuseTracklets (std::shared_ptr< NvTrackedObject > targetToBeKept, std::shared_ptr< NvTrackedObject > targetToBeFused)
	Fuse two tracklets. More...

bool	checkDuplicateTracklet (const uint64_t targetId, std::map< uint64_t, Trajectory4Archive > &tracklets, std::set< uint64_t > &peersToBeDeleted)
	Check if the tracklet is a duplicate to another existing tracklet. More...

int	calculateTrackletInclusionScore (const std::list< TargetInfo > &tracklet, const std::list< TargetInfo > &peerTracklet)
	Calculate the number of duplicate bboxes between the two tracklets. More...

void	fuseArchivedTracklets (const uint64_t targetId, const uint64_t peerId, std::map< uint64_t, Trajectory4Archive > &tracklets)
	Fuse the peer's tracklet into the target's. More...

void	dumpTrajectoryIntoFile (const NvMOTStreamId streamId, const TargetId targetId, const Trajectory4Archive &traj)
	Dump the trajectory data into a file in a specified format. More...

const uint64_t	generateNewTargetID ()
	Generate a thread-safe target ID according to the configured ID mode. More...

const uint64_t	peekNewTargetID () const
	Return the next target ID without consuming it. More...

bool	tryReAssoc (const std::shared_ptr< NvTrackedObject > target, std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject >> &toBeFused)
	Try to perform the re-assoc with the targets in the temporary DB that stores projected trajectories. More...

bool	processTrajectory (const uint64_t targetId, const NvMOTStreamId streamId, std::list< TargetInfo > &tracklet)
	Trim the tracklet by removing the last un-validated trajectory points. More...

std::list< TargetInfo >	createProjectedTrajectories (const uint64_t targetId, const NvMOTStreamId streamId, const std::list< TargetInfo > &tracklet, int overrideShadowAge=-1)
	Trim the tracklet by removing the last un-validated trajectory points and return the projected trajectory points only. More...

void	add2ProjectedTrajectoryDB (std::shared_ptr< NvTrackedObject > target)
	Add the projected trajectory to the temporary DB so that it can be re-associated. More...

void	removeFromProjectedTrajectoryDB (std::shared_ptr< NvTrackedObject > target)
	Remove from the projected trajectory DB. More...

virtual std::list< TargetInfo >	getTrimmedTraj4ReAssoc (const std::list< TargetInfo > &newTraj, const std::list< TargetInfo > &peerTraj, const NvMOTFrameNum lastTrackedFrameNum_peer)
	Get the trimmed new trajectory for reassociation with peer trajectory. More...

bool	findMatch4ReAssoc (const std::shared_ptr< NvTrackedObject > target, std::shared_ptr< NvTrackedObject > &bestMatchPeer)
	Find the best live projected-trajectory match for a target. More...

bool	findArchiveMatch4ReAssoc (const std::shared_ptr< NvTrackedObject > newTarget)
	Fallback re-association against terminated tracks in m_trajectoryArchive. More...

bool	try3DReAssoc (const std::shared_ptr< NvTrackedObject > newTarget)
	Perform archive-only world-distance and frame-gap re-association. More...

virtual float	calculateSizeSimilarityScore (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj)
	Calculate bounding-box size similarity between two trajectories. More...

const std::tuple< float, int, float, float, float, float >	calculateSimilarityBtwTracklets (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj, const float peerTrajCov)
	Calculate tracklet, direction, speed, and size similarity metrics. More...

const std::tuple< float, int, float, float, float >	calculateAssocScore4QuasiDTW (const std::list< TargetInfo > &traj, const std::list< TargetInfo > &peerTraj, const float peerTrajCov)
	Calculate quasi-DTW association metrics between two trajectories. More...

const float	computeAngleInDegree (const Eigen::Vector2f &vec1, const Eigen::Vector2f &vec2)
	Compute the angle between the two tracklets direction [degree]. More...

const float	computeSpeedSimilarity (const Eigen::Vector2f &vec1, const Eigen::Vector2f &vec2)
	Compute the speed similarity between the two tracklets. More...

const bool	detectMotion (const Eigen::Vector2f &vec, float threshold)
	Detect if a tracklet is in motion, that is, if its speed is at least the threshold. More...

void	fuseTracklets (std::shared_ptr< NvTrackedObject > targetToBeKept, std::shared_ptr< NvTrackedObject > targetToBeFused)
	Fuse two tracklets. More...

bool	checkDuplicateTracklet (const uint64_t targetId, std::map< uint64_t, Trajectory4Archive > &tracklets, std::set< uint64_t > &peersToBeDeleted)
	Check if the tracklet is a duplicate to another existing tracklet. More...

int	calculateTrackletInclusionScore (const std::list< TargetInfo > &tracklet, const std::list< TargetInfo > &peerTracklet)
	Calculate the number of duplicate bboxes between the two tracklets. More...

void	fuseArchivedTracklets (const uint64_t targetId, const uint64_t peerId, std::map< uint64_t, Trajectory4Archive > &tracklets)
	Fuse the peer's tracklet into the target's. More...

void	dumpTrajectoryIntoFile (const NvMOTStreamId streamId, const TargetId targetId, const Trajectory4Archive &traj)
	Dump the trajectory data into a file in a specified format. More...

const uint64_t	generateNewTargetID ()
	Generate a thread-safe target ID according to the configured ID mode. More...

const uint64_t	peekNewTargetID () const
	Return the next target ID without consuming it. More...

Protected Attributes
NvTrackerParamsTrajectoryManager	m_params
	Config params for target management. More...

const std::string	m_configFilePath
	Config file path. More...

std::map< NvMOTStreamId, std::shared_ptr< Trajectory4ArchiveList > >	m_trajectoryArchive
	Archive of past trajectories up to a configured age, modified on the main thread and read by workers. More...

std::map< NvMOTStreamId, std::shared_ptr< ProjectedTrajectoryList > >	m_projectedTrajectories
	Temporary buffer of the projected trajectories to be re-associated. More...

std::map< NvMOTStreamId, std::shared_ptr< TrackedObjectsReidIndList > >	m_trackedObjectsReidInd
	Target's index in reid batch. More...

std::map< NvMOTStreamId, bool >	m_isFileTrajectoryDumpCreated
	Post-processing: dump trajectories into a file: only accessed in main thread. More...

std::map< NvMOTStreamId, std::ofstream >	m_fileTrajectoryDump
	Per-stream trajectory dump file, accessed only on the main thread. More...

std::map< NvMOTStreamId, std::shared_ptr< IEstimator2 > >	m_trajProjector
	Per-stream state estimator used to project trajectories for re-association. More...

std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator > >	m_multiViewAssociators
	Multi-view associators. More...

std::map< uint64_t, NvMOTFrameNum >	m_usedPeerTargetIds
	Claimed peer target id mapped to the frame of the claim. More...

UIDGenerator	m_uidGenerator
	ID generator. More...

bool	m_isOffline = false
	Boolean to indicate if the trajectory manager is used for offline processing. More...

struct NvTrajectoryManager::ReAssocStats	m_stats
	Stores trajectory-reassociation counters. More...

Constructor & Destructor Documentation

◆ NvTrajectoryManager() [1/2]

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

Construct a trajectory manager from configuration.

Parameters

[in] configFilePath Path to the configuration file.

◆ ~NvTrajectoryManager() [1/2]

virtual NvTrajectoryManager::~NvTrajectoryManager ( )

virtual

Report statistics and destroy the trajectory manager.

◆ NvTrajectoryManager() [2/2]

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

Construct a trajectory manager from configuration.

Parameters

[in] configFilePath Path to the configuration file.

◆ ~NvTrajectoryManager() [2/2]

virtual NvTrajectoryManager::~NvTrajectoryManager ( )

virtual

Report statistics and destroy the trajectory manager.

Member Function Documentation

◆ add2ProjectedTrajectoryDB() [1/2]

void NvTrajectoryManager::add2ProjectedTrajectoryDB ( std::shared_ptr< NvTrackedObject > target )

protected

Add the projected trajectory to the temporary DB so that it can be re-associated.

Parameters

[in] target Shadow track whose projected trajectory is stored.

◆ add2ProjectedTrajectoryDB() [2/2]

void NvTrajectoryManager::add2ProjectedTrajectoryDB ( std::shared_ptr< NvTrackedObject > target )

protected

Add the projected trajectory to the temporary DB so that it can be re-associated.

Parameters

[in] target Shadow track whose projected trajectory is stored.

◆ archiveTrajectory() [1/2]

void NvTrajectoryManager::archiveTrajectory ( const std::shared_ptr< NvTrackedObject > target )

Store the trajectories of the terminated objects up to a certain time.

Parameters

[in] target Terminated object whose trajectory is stored.

◆ archiveTrajectory() [2/2]

void NvTrajectoryManager::archiveTrajectory ( const std::shared_ptr< NvTrackedObject > target )

Store the trajectories of the terminated objects up to a certain time.

Parameters

[in] target Terminated object whose trajectory is stored.

◆ assignTargetIDs() [1/2]

void NvTrajectoryManager::assignTargetIDs	(	const NvTrackedObjectList &	targetList,
		std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject > > &	toBeTerminated,
		const NvMOTTimeMeta &	timeMeta
	)

Assign target IDs and set targetIDTimeStamp.

Parameters

[in]	targetList	Tracked objects that may receive target IDs.
[out]	toBeTerminated	Map from a terminated target to its peer.
[in]	timeMeta	Timing metadata from association.

◆ assignTargetIDs() [2/2]

void NvTrajectoryManager::assignTargetIDs	(	const NvTrackedObjectList &	targetList,
		std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject > > &	toBeTerminated,
		const NvMOTTimeMeta &	timeMeta
	)

Assign target IDs and set targetIDTimeStamp.

Parameters

[in]	targetList	Tracked objects that may receive target IDs.
[out]	toBeTerminated	Map from a terminated target to its peer.
[in]	timeMeta	Timing metadata from association.

◆ calculateAssocScore4QuasiDTW() [1/2]

const std::tuple<float, int, float, float, float> NvTrajectoryManager::calculateAssocScore4QuasiDTW	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj,
		const float	peerTrajCov
	)

protected

Calculate quasi-DTW association metrics between two trajectories.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.
[in]	peerTrajCov	Peer trajectory covariance.

Returns: Tuple of average IOU, frame difference, angle, speed similarity, and speed unit magnitude.

◆ calculateAssocScore4QuasiDTW() [2/2]

const std::tuple<float, int, float, float, float> NvTrajectoryManager::calculateAssocScore4QuasiDTW	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj,
		const float	peerTrajCov
	)

protected

Calculate quasi-DTW association metrics between two trajectories.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.
[in]	peerTrajCov	Peer trajectory covariance.

Returns: Tuple of average IOU, frame difference, angle, speed similarity, and speed unit magnitude.

◆ calculateSimilarityBtwTracklets() [1/2]

const std::tuple<float, int, float, float, float, float> NvTrajectoryManager::calculateSimilarityBtwTracklets	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj,
		const float	peerTrajCov
	)

protected

Calculate tracklet, direction, speed, and size similarity metrics.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.
[in]	peerTrajCov	Peer trajectory covariance.

Returns: Tuple of tracklet score, frame difference, angle, speed similarity, speed unit magnitude, and size similarity.

◆ calculateSimilarityBtwTracklets() [2/2]

const std::tuple<float, int, float, float, float, float> NvTrajectoryManager::calculateSimilarityBtwTracklets	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj,
		const float	peerTrajCov
	)

protected

Calculate tracklet, direction, speed, and size similarity metrics.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.
[in]	peerTrajCov	Peer trajectory covariance.

Returns: Tuple of tracklet score, frame difference, angle, speed similarity, speed unit magnitude, and size similarity.

◆ calculateSizeSimilarityScore() [1/2]

virtual float NvTrajectoryManager::calculateSizeSimilarityScore	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj
	)

protectedvirtual

Calculate bounding-box size similarity between two trajectories.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.

Returns: Average bounding-box size similarity.

◆ calculateSizeSimilarityScore() [2/2]

virtual float NvTrajectoryManager::calculateSizeSimilarityScore	(	const std::list< TargetInfo > &	traj,
		const std::list< TargetInfo > &	peerTraj
	)

protectedvirtual

Calculate bounding-box size similarity between two trajectories.

Parameters

[in]	traj	First trajectory.
[in]	peerTraj	Peer trajectory.

Returns: Average bounding-box size similarity.

◆ calculateTrackletInclusionScore() [1/2]

int NvTrajectoryManager::calculateTrackletInclusionScore	(	const std::list< TargetInfo > &	tracklet,
		const std::list< TargetInfo > &	peerTracklet
	)

protected

Calculate the number of duplicate bboxes between the two tracklets.

Parameters

[in]	tracklet	Tracklet being compared.
[in]	peerTracklet	Peer tracklet being compared.

Returns: Number of duplicate boxes, or -1 when a tracklet is empty or the tracklets do not overlap in time.

◆ calculateTrackletInclusionScore() [2/2]

int NvTrajectoryManager::calculateTrackletInclusionScore	(	const std::list< TargetInfo > &	tracklet,
		const std::list< TargetInfo > &	peerTracklet
	)

protected

Calculate the number of duplicate bboxes between the two tracklets.

Parameters

[in]	tracklet	Tracklet being compared.
[in]	peerTracklet	Peer tracklet being compared.

Returns: Number of duplicate boxes, or -1 when a tracklet is empty or the tracklets do not overlap in time.

◆ checkDuplicateTracklet() [1/2]

bool NvTrajectoryManager::checkDuplicateTracklet	(	const uint64_t	targetId,
		std::map< uint64_t, Trajectory4Archive > &	tracklets,
		std::set< uint64_t > &	peersToBeDeleted
	)

protected

Check if the tracklet is a duplicate to another existing tracklet.

Parameters

[in]	targetId	ID of the tracklet to check.
[in,out]	tracklets	Archived tracklets for the stream; a duplicate may be fused into its peer.
[in,out]	peersToBeDeleted	Peer IDs already marked for deletion; a duplicate peer is inserted here.

Returns: True when this tracklet is a duplicate of a peer.

◆ checkDuplicateTracklet() [2/2]

bool NvTrajectoryManager::checkDuplicateTracklet	(	const uint64_t	targetId,
		std::map< uint64_t, Trajectory4Archive > &	tracklets,
		std::set< uint64_t > &	peersToBeDeleted
	)

protected

Check if the tracklet is a duplicate to another existing tracklet.

Parameters

[in]	targetId	ID of the tracklet to check.
[in,out]	tracklets	Archived tracklets for the stream; a duplicate may be fused into its peer.
[in,out]	peersToBeDeleted	Peer IDs already marked for deletion; a duplicate peer is inserted here.

Returns: True when this tracklet is a duplicate of a peer.

◆ cleanUpArchivedTrajectories() [1/2]

void NvTrajectoryManager::cleanUpArchivedTrajectories ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

Remove expired archived trajectories for all input streams.

Parameters

[in] inputMeta Current input metadata by stream.

◆ cleanUpArchivedTrajectories() [2/2]

void NvTrajectoryManager::cleanUpArchivedTrajectories ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

Remove expired archived trajectories for all input streams.

Parameters

[in] inputMeta Current input metadata by stream.

◆ cleanUpArchivedTrajectories_perStream() [1/2]

void NvTrajectoryManager::cleanUpArchivedTrajectories_perStream	(	const NvMOTStreamId	streamId,
		const uint32_t	currFrameNum,
		const bool	doPurge = `false`
	)

Remove expired archived trajectories for one stream.

Parameters

[in]	streamId	Source stream identifier.
[in]	currFrameNum	Current frame number.
[in]	doPurge	Whether to remove every archived trajectory.

◆ cleanUpArchivedTrajectories_perStream() [2/2]

void NvTrajectoryManager::cleanUpArchivedTrajectories_perStream	(	const NvMOTStreamId	streamId,
		const uint32_t	currFrameNum,
		const bool	doPurge = `false`
	)

Remove expired archived trajectories for one stream.

Parameters

[in]	streamId	Source stream identifier.
[in]	currFrameNum	Current frame number.
[in]	doPurge	Whether to remove every archived trajectory.

◆ computeAngleInDegree() [1/2]

const float NvTrajectoryManager::computeAngleInDegree	(	const Eigen::Vector2f &	vec1,
		const Eigen::Vector2f &	vec2
	)

protected

Compute the angle between the two tracklets direction [degree].

Parameters

[in]	vec1	Direction vector of the first tracklet.
[in]	vec2	Direction vector of the second tracklet.

Returns: Angle between the two directions in degrees.

◆ computeAngleInDegree() [2/2]

const float NvTrajectoryManager::computeAngleInDegree	(	const Eigen::Vector2f &	vec1,
		const Eigen::Vector2f &	vec2
	)

protected

Compute the angle between the two tracklets direction [degree].

Parameters

[in]	vec1	Direction vector of the first tracklet.
[in]	vec2	Direction vector of the second tracklet.

Returns: Angle between the two directions in degrees.

◆ computeSpeedSimilarity() [1/2]

const float NvTrajectoryManager::computeSpeedSimilarity	(	const Eigen::Vector2f &	vec1,
		const Eigen::Vector2f &	vec2
	)

protected

Compute the speed similarity between the two tracklets.

Parameters

[in]	vec1	Velocity vector of the first tracklet.
[in]	vec2	Velocity vector of the second tracklet.

Returns: Speed similarity, where a higher value means a closer match.

◆ computeSpeedSimilarity() [2/2]

const float NvTrajectoryManager::computeSpeedSimilarity	(	const Eigen::Vector2f &	vec1,
		const Eigen::Vector2f &	vec2
	)

protected

Compute the speed similarity between the two tracklets.

Parameters

[in]	vec1	Velocity vector of the first tracklet.
[in]	vec2	Velocity vector of the second tracklet.

Returns: Speed similarity, where a higher value means a closer match.

◆ createProjectedTrajectories() [1/2]

std::list<TargetInfo> NvTrajectoryManager::createProjectedTrajectories	(	const uint64_t	targetId,
		const NvMOTStreamId	streamId,
		const std::list< TargetInfo > &	tracklet,
		int	overrideShadowAge = `-1`
	)

protected

Trim the tracklet by removing the last un-validated trajectory points and return the projected trajectory points only.

Parameters

[in]	targetId	ID of the tracklet.
[in]	streamId	Stream that owns the tracklet.
[in]	tracklet	Tracklet to project.
[in]	overrideShadowAge	Shadow age to use when non-negative; a negative value counts INACTIVE frames at the tail.

Returns: Projected trajectory points.

◆ createProjectedTrajectories() [2/2]

std::list<TargetInfo> NvTrajectoryManager::createProjectedTrajectories	(	const uint64_t	targetId,
		const NvMOTStreamId	streamId,
		const std::list< TargetInfo > &	tracklet,
		int	overrideShadowAge = `-1`
	)

protected

Trim the tracklet by removing the last un-validated trajectory points and return the projected trajectory points only.

Parameters

[in]	targetId	ID of the tracklet.
[in]	streamId	Stream that owns the tracklet.
[in]	tracklet	Tracklet to project.
[in]	overrideShadowAge	Shadow age to use when non-negative; a negative value counts INACTIVE frames at the tail.

Returns: Projected trajectory points.

◆ detectMotion() [1/2]

const bool NvTrajectoryManager::detectMotion	(	const Eigen::Vector2f &	vec,
		float	threshold
	)

protected

Detect if a tracklet is in motion, that is, if its speed is at least the threshold.

Parameters

[in]	vec	Velocity vector of the tracklet.
[in]	threshold	Minimum speed treated as motion.

Returns: True when the vector speed is at least the threshold.

◆ detectMotion() [2/2]

const bool NvTrajectoryManager::detectMotion	(	const Eigen::Vector2f &	vec,
		float	threshold
	)

protected

Detect if a tracklet is in motion, that is, if its speed is at least the threshold.

Parameters

[in]	vec	Velocity vector of the tracklet.
[in]	threshold	Minimum speed treated as motion.

Returns: True when the vector speed is at least the threshold.

◆ dumpTrajectoryIntoFile() [1/2]

void NvTrajectoryManager::dumpTrajectoryIntoFile	(	const NvMOTStreamId	streamId,
		const TargetId	targetId,
		const Trajectory4Archive &	traj
	)

protected

Dump the trajectory data into a file in a specified format.

Parameters

[in]	streamId	Stream that owns the trajectory.
[in]	targetId	ID of the trajectory to dump.
[in]	traj	Archived trajectory to write.

◆ dumpTrajectoryIntoFile() [2/2]

void NvTrajectoryManager::dumpTrajectoryIntoFile	(	const NvMOTStreamId	streamId,
		const TargetId	targetId,
		const Trajectory4Archive &	traj
	)

protected

Dump the trajectory data into a file in a specified format.

Parameters

[in]	streamId	Stream that owns the trajectory.
[in]	targetId	ID of the trajectory to dump.
[in]	traj	Archived trajectory to write.

◆ findArchiveMatch4ReAssoc() [1/2]

bool NvTrajectoryManager::findArchiveMatch4ReAssoc ( const std::shared_ptr< NvTrackedObject > newTarget )

protected

Fallback re-association against terminated tracks in m_trajectoryArchive.

Parameters

[in] newTarget Newly appearing track needing an ID.

Returns: True if a match above minMatchingScore4Overall was found.

◆ findArchiveMatch4ReAssoc() [2/2]

bool NvTrajectoryManager::findArchiveMatch4ReAssoc ( const std::shared_ptr< NvTrackedObject > newTarget )

protected

Fallback re-association against terminated tracks in m_trajectoryArchive.

Parameters

[in] newTarget Newly appearing track needing an ID.

Returns: True if a match above minMatchingScore4Overall was found.

◆ findMatch4ReAssoc() [1/2]

bool NvTrajectoryManager::findMatch4ReAssoc	(	const std::shared_ptr< NvTrackedObject >	target,
		std::shared_ptr< NvTrackedObject > &	bestMatchPeer
	)

protected

Find the best live projected-trajectory match for a target.

Parameters

[in]	target	Target to reassociate.
[out]	bestMatchPeer	Best matching peer target.

Returns: True when a match meets the reassociation threshold.

◆ findMatch4ReAssoc() [2/2]

bool NvTrajectoryManager::findMatch4ReAssoc	(	const std::shared_ptr< NvTrackedObject >	target,
		std::shared_ptr< NvTrackedObject > &	bestMatchPeer
	)

protected

Find the best live projected-trajectory match for a target.

Parameters

[in]	target	Target to reassociate.
[out]	bestMatchPeer	Best matching peer target.

Returns: True when a match meets the reassociation threshold.

◆ fuseArchivedTracklets() [1/2]

void NvTrajectoryManager::fuseArchivedTracklets	(	const uint64_t	targetId,
		const uint64_t	peerId,
		std::map< uint64_t, Trajectory4Archive > &	tracklets
	)

protected

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

Parameters

[in]	targetId	ID of the tracklet that is kept.
[in]	peerId	ID of the peer tracklet that is merged in.
[in,out]	tracklets	Archived tracklets; the kept tracklet is replaced by the fused result.

◆ fuseArchivedTracklets() [2/2]

void NvTrajectoryManager::fuseArchivedTracklets	(	const uint64_t	targetId,
		const uint64_t	peerId,
		std::map< uint64_t, Trajectory4Archive > &	tracklets
	)

protected

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

Parameters

[in]	targetId	ID of the tracklet that is kept.
[in]	peerId	ID of the peer tracklet that is merged in.
[in,out]	tracklets	Archived tracklets; the kept tracklet is replaced by the fused result.

◆ fuseTracklets() [1/2]

void NvTrajectoryManager::fuseTracklets	(	std::shared_ptr< NvTrackedObject >	targetToBeKept,
		std::shared_ptr< NvTrackedObject >	targetToBeFused
	)

protected

Fuse two tracklets.

Parameters

[in]	targetToBeKept	Track that is kept and receives the fused trajectory.
[in]	targetToBeFused	Track whose trajectory is copied into the kept track.

◆ fuseTracklets() [2/2]

void NvTrajectoryManager::fuseTracklets	(	std::shared_ptr< NvTrackedObject >	targetToBeKept,
		std::shared_ptr< NvTrackedObject >	targetToBeFused
	)

protected

Fuse two tracklets.

Parameters

[in]	targetToBeKept	Track that is kept and receives the fused trajectory.
[in]	targetToBeFused	Track whose trajectory is copied into the kept track.

◆ generateNewTargetID() [1/2]

const uint64_t NvTrajectoryManager::generateNewTargetID ( )

protected

Generate a thread-safe target ID according to the configured ID mode.

◆ generateNewTargetID() [2/2]

const uint64_t NvTrajectoryManager::generateNewTargetID ( )

protected

Generate a thread-safe target ID according to the configured ID mode.

◆ generateTrackedObjects4ReidPerStream() [1/2]

virtual std::deque<DetectedObjInfo> NvTrajectoryManager::generateTrackedObjects4ReidPerStream	(	const NvMOTStreamId	streamId,
		const NvTrackedObjectList &	targetList
	)

virtual

Generate target detections that require ReID extraction for one stream.

Parameters

[in]	streamId	Source stream identifier.
[in]	targetList	Tracked targets to inspect.

◆ generateTrackedObjects4ReidPerStream() [2/2]

virtual std::deque<DetectedObjInfo> NvTrajectoryManager::generateTrackedObjects4ReidPerStream	(	const NvMOTStreamId	streamId,
		const NvTrackedObjectList &	targetList
	)

virtual

Generate target detections that require ReID extraction for one stream.

Parameters

[in]	streamId	Source stream identifier.
[in]	targetList	Tracked targets to inspect.

◆ getArchivedTrajectory() [1/2]

const Trajectory4Archive& NvTrajectoryManager::getArchivedTrajectory	(	const NvMOTStreamId	videoStreamId,
		const uint64_t	targetId
	)

inline

Return an archived trajectory by stream and target ID.

Parameters

[in]	videoStreamId	Source stream identifier.
[in]	targetId	Target ID.

Definition at line 323 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_trajectoryArchive.

◆ getArchivedTrajectory() [2/2]

const Trajectory4Archive& NvTrajectoryManager::getArchivedTrajectory	(	const NvMOTStreamId	videoStreamId,
		const uint64_t	targetId
	)

inline

Return an archived trajectory by stream and target ID.

Parameters

[in]	videoStreamId	Source stream identifier.
[in]	targetId	Target ID.

Definition at line 323 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_trajectoryArchive.

◆ getDumpDetectorBboxes() [1/2]

const bool NvTrajectoryManager::getDumpDetectorBboxes ( )

inline

Return whether detector bounding boxes are dumped.

Definition at line 335 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References NvTrackerParamsTrajectoryManager::m_dumpDetectorBboxes, and m_params.

◆ getDumpDetectorBboxes() [2/2]

const bool NvTrajectoryManager::getDumpDetectorBboxes ( )

inline

Return whether detector bounding boxes are dumped.

Definition at line 335 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References NvTrackerParamsTrajectoryManager::m_dumpDetectorBboxes, and m_params.

◆ getMinVisibility4TrajDump() [1/2]

const float NvTrajectoryManager::getMinVisibility4TrajDump ( )

inline

Return the minimum visibility required for trajectory dumping.

Definition at line 332 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References NvTrackerParamsTrajectoryManager::m_minVisibility4TrajDump, and m_params.

◆ getMinVisibility4TrajDump() [2/2]

const float NvTrajectoryManager::getMinVisibility4TrajDump ( )

inline

Return the minimum visibility required for trajectory dumping.

Definition at line 332 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References NvTrackerParamsTrajectoryManager::m_minVisibility4TrajDump, and m_params.

◆ getParams() [1/2]

const NvTrackerParamsTrajectoryManager NvTrajectoryManager::getParams ( )

inline

Return a copy of trajectory-manager parameters.

Definition at line 329 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_params.

◆ getParams() [2/2]

const NvTrackerParamsTrajectoryManager NvTrajectoryManager::getParams ( )

inline

Return a copy of trajectory-manager parameters.

Definition at line 329 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_params.

◆ getTrimmedTraj4ReAssoc() [1/2]

virtual std::list<TargetInfo> NvTrajectoryManager::getTrimmedTraj4ReAssoc	(	const std::list< TargetInfo > &	newTraj,
		const std::list< TargetInfo > &	peerTraj,
		const NvMOTFrameNum	lastTrackedFrameNum_peer
	)

protectedvirtual

Get the trimmed new trajectory for reassociation with peer trajectory.

Parameters

[in]	newTraj	Trajectory to be trimmed.
[in]	peerTraj	Peer trajectory to reassociate against.
[in]	lastTrackedFrameNum_peer	Last tracked frame number of the peer.

Returns: The trimmed new trajectory.

◆ getTrimmedTraj4ReAssoc() [2/2]

virtual std::list<TargetInfo> NvTrajectoryManager::getTrimmedTraj4ReAssoc	(	const std::list< TargetInfo > &	newTraj,
		const std::list< TargetInfo > &	peerTraj,
		const NvMOTFrameNum	lastTrackedFrameNum_peer
	)

protectedvirtual

Get the trimmed new trajectory for reassociation with peer trajectory.

Parameters

[in]	newTraj	Trajectory to be trimmed.
[in]	peerTraj	Peer trajectory to reassociate against.
[in]	lastTrackedFrameNum_peer	Last tracked frame number of the peer.

Returns: The trimmed new trajectory.

◆ peekNewTargetID() [1/2]

const uint64_t NvTrajectoryManager::peekNewTargetID ( ) const

protected

Return the next target ID without consuming it.

◆ peekNewTargetID() [2/2]

const uint64_t NvTrajectoryManager::peekNewTargetID ( ) const

protected

Return the next target ID without consuming it.

◆ processTrajectory() [1/2]

bool NvTrajectoryManager::processTrajectory	(	const uint64_t	targetId,
		const NvMOTStreamId	streamId,
		std::list< TargetInfo > &	tracklet
	)

protected

Trim the tracklet by removing the last un-validated trajectory points.

Parameters

[in]	targetId	ID of the tracklet.
[in]	streamId	Stream that owns the tracklet.
[in,out]	tracklet	Tracklet trimmed in place by removing unvalidated tail points.

Returns: True when the tracklet is valid to archive.

◆ processTrajectory() [2/2]

bool NvTrajectoryManager::processTrajectory	(	const uint64_t	targetId,
		const NvMOTStreamId	streamId,
		std::list< TargetInfo > &	tracklet
	)

protected

Trim the tracklet by removing the last un-validated trajectory points.

Parameters

[in]	targetId	ID of the tracklet.
[in]	streamId	Stream that owns the tracklet.
[in,out]	tracklet	Tracklet trimmed in place by removing unvalidated tail points.

Returns: True when the tracklet is valid to archive.

◆ purgeArchivedTrajectories() [1/2]

void NvTrajectoryManager::purgeArchivedTrajectories ( )

Purge all archived trajectories.

◆ purgeArchivedTrajectories() [2/2]

void NvTrajectoryManager::purgeArchivedTrajectories ( )

Purge all archived trajectories.

◆ removeFromProjectedTrajectoryDB() [1/2]

void NvTrajectoryManager::removeFromProjectedTrajectoryDB ( std::shared_ptr< NvTrackedObject > target )

protected

Remove from the projected trajectory DB.

Parameters

[in] target Track to remove from the projected trajectory database.

◆ removeFromProjectedTrajectoryDB() [2/2]

void NvTrajectoryManager::removeFromProjectedTrajectoryDB ( std::shared_ptr< NvTrackedObject > target )

protected

Remove from the projected trajectory DB.

Parameters

[in] target Track to remove from the projected trajectory database.

◆ resetIDs() [1/2]

void NvTrajectoryManager::resetIDs ( )

inline

Reset the unique-ID generator with a new random prefix.

Definition at line 276 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_uidGenerator, and UIDGenerator::reset().

◆ resetIDs() [2/2]

void NvTrajectoryManager::resetIDs ( )

inline

Reset the unique-ID generator with a new random prefix.

Definition at line 276 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

References m_uidGenerator, and UIDGenerator::reset().

◆ setMultiViewAssociators() [1/2]

void NvTrajectoryManager::setMultiViewAssociators ( std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator >> multiViewAssociators )

Set the multi-view associators.

Parameters

[in] multiViewAssociators Per-stream multi-view associators.

◆ setMultiViewAssociators() [2/2]

void NvTrajectoryManager::setMultiViewAssociators ( std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator >> multiViewAssociators )

Set the multi-view associators.

Parameters

[in] multiViewAssociators Per-stream multi-view associators.

◆ setSrcFrameInfo() [1/2]

void NvTrajectoryManager::setSrcFrameInfo	(	const NvMotDataTypes::Rect2f	originalSrcImageBox,
		const NvMotDataTypes::Rect2f	srcImageBox
	)

Set source-frame geometry used for trajectory output.

Parameters

[in]	originalSrcImageBox	Original source image bounds.
[in]	srcImageBox	Tracker source image bounds.

◆ setSrcFrameInfo() [2/2]

void NvTrajectoryManager::setSrcFrameInfo	(	const NvMotDataTypes::Rect2f	originalSrcImageBox,
		const NvMotDataTypes::Rect2f	srcImageBox
	)

Set source-frame geometry used for trajectory output.

Parameters

[in]	originalSrcImageBox	Original source image bounds.
[in]	srcImageBox	Tracker source image bounds.

◆ try3DReAssoc() [1/2]

bool NvTrajectoryManager::try3DReAssoc ( const std::shared_ptr< NvTrackedObject > newTarget )

protected

Perform archive-only world-distance and frame-gap re-association.

Searches m_trajectoryArchive for terminated tracks within maxFrameGap4WorldDistReAssoc whose last valid world foot point is within maxWorldDist4ArchiveReAssoc of the new track and whose bbox similarity is at least 0.5.

Parameters

[in] newTarget Newly appearing track needing an ID.

Returns: True if a match above minMatchingScore4Overall was found.

◆ try3DReAssoc() [2/2]

bool NvTrajectoryManager::try3DReAssoc ( const std::shared_ptr< NvTrackedObject > newTarget )

protected

Perform archive-only world-distance and frame-gap re-association.

Searches m_trajectoryArchive for terminated tracks within maxFrameGap4WorldDistReAssoc whose last valid world foot point is within maxWorldDist4ArchiveReAssoc of the new track and whose bbox similarity is at least 0.5.

Parameters

[in] newTarget Newly appearing track needing an ID.

Returns: True if a match above minMatchingScore4Overall was found.

◆ tryReAssoc() [1/2]

bool NvTrajectoryManager::tryReAssoc	(	const std::shared_ptr< NvTrackedObject >	target,
		std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject >> &	toBeFused
	)

protected

Try to perform the re-assoc with the targets in the temporary DB that stores projected trajectories.

Parameters

[in]	target	Target to reassociate.
[out]	toBeFused	Map from a terminated target to its peer.

Returns: True when reassociation succeeds.

◆ tryReAssoc() [2/2]

bool NvTrajectoryManager::tryReAssoc	(	const std::shared_ptr< NvTrackedObject >	target,
		std::map< std::shared_ptr< NvTrackedObject >, std::shared_ptr< NvTrackedObject >> &	toBeFused
	)

protected

Try to perform the re-assoc with the targets in the temporary DB that stores projected trajectories.

Parameters

[in]	target	Target to reassociate.
[out]	toBeFused	Map from a terminated target to its peer.

Returns: True when reassociation succeeds.

◆ updateParams() [1/2]

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

Update dynamic parameters during runtime.

Parameters

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

◆ updateParams() [2/2]

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

Update dynamic parameters during runtime.

Parameters

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

◆ updateStreamIds() [1/2]

void NvTrajectoryManager::updateStreamIds	(	const std::vector< NvMOTStreamId > &	streamIdsToAdd = `{}`,
		const std::vector< NvMOTStreamId > &	streamIdsToDel = `{}`
	)

Update per-stream trajectory state when streams are added or removed.

Parameters

[in]	streamIdsToAdd	Stream identifiers to add.
[in]	streamIdsToDel	Stream identifiers to remove.

◆ updateStreamIds() [2/2]

void NvTrajectoryManager::updateStreamIds	(	const std::vector< NvMOTStreamId > &	streamIdsToAdd = `{}`,
		const std::vector< NvMOTStreamId > &	streamIdsToDel = `{}`
	)

Update per-stream trajectory state when streams are added or removed.

Parameters

[in]	streamIdsToAdd	Stream identifiers to add.
[in]	streamIdsToDel	Stream identifiers to remove.

Field Documentation

◆ m_configFilePath

const std::string NvTrajectoryManager::m_configFilePath

protected

Config file path.

Definition at line 339 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_fileTrajectoryDump

std::map< NvMOTStreamId, std::ofstream > NvTrajectoryManager::m_fileTrajectoryDump

protected

Per-stream trajectory dump file, accessed only on the main thread.

Definition at line 346 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_isFileTrajectoryDumpCreated

std::map< NvMOTStreamId, bool > NvTrajectoryManager::m_isFileTrajectoryDumpCreated

protected

Post-processing: dump trajectories into a file: only accessed in main thread.

Definition at line 345 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_isOffline

bool NvTrajectoryManager::m_isOffline = false

protected

Boolean to indicate if the trajectory manager is used for offline processing.

Definition at line 360 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_multiViewAssociators

std::map< NvMOTStreamId, std::shared_ptr< IMultiViewAssociator > > NvTrajectoryManager::m_multiViewAssociators

protected

Multi-view associators.

Definition at line 350 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_params

NvTrackerParamsTrajectoryManager NvTrajectoryManager::m_params

protected

Config params for target management.

Definition at line 338 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

Referenced by getDumpDetectorBboxes(), getMinVisibility4TrajDump(), and getParams().

◆ m_projectedTrajectories

std::map< NvMOTStreamId, std::shared_ptr< ProjectedTrajectoryList > > NvTrajectoryManager::m_projectedTrajectories

protected

Temporary buffer of the projected trajectories to be re-associated.

Definition at line 343 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_stats

struct NvTrajectoryManager::ReAssocStats NvTrajectoryManager::m_stats

protected

Stores trajectory-reassociation counters.

◆ m_trackedObjectsReidInd

std::map< NvMOTStreamId, std::shared_ptr< TrackedObjectsReidIndList > > NvTrajectoryManager::m_trackedObjectsReidInd

protected

Target's index in reid batch.

Definition at line 344 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_trajectoryArchive

std::map< NvMOTStreamId, std::shared_ptr< Trajectory4ArchiveList > > NvTrajectoryManager::m_trajectoryArchive

protected

Archive of past trajectories up to a configured age, modified on the main thread and read by workers.

Definition at line 342 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

Referenced by getArchivedTrajectory().

◆ m_trajProjector

std::map< NvMOTStreamId, std::shared_ptr< IEstimator2 > > NvTrajectoryManager::m_trajProjector

protected

Per-stream state estimator used to project trajectories for re-association.

Definition at line 349 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

◆ m_uidGenerator

UIDGenerator NvTrajectoryManager::m_uidGenerator

protected

ID generator.

Definition at line 357 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

Referenced by resetIDs().

◆ m_usedPeerTargetIds

std::map< uint64_t, NvMOTFrameNum > NvTrajectoryManager::m_usedPeerTargetIds

protected

Claimed peer target id mapped to the frame of the claim.

The claim blocks reuse for m_maxAge4TrackletArchiving frames.

Definition at line 353 of file sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.hpp.

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

sources/libs/nvmultiobjecttracker/include/modules/TrajectoryManager/NvTrajectoryManager.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

◆ NvTrajectoryManager() [1/2]

◆ ~NvTrajectoryManager() [1/2]

◆ NvTrajectoryManager() [2/2]

◆ ~NvTrajectoryManager() [2/2]

Member Function Documentation

◆ add2ProjectedTrajectoryDB() [1/2]

◆ add2ProjectedTrajectoryDB() [2/2]

◆ archiveTrajectory() [1/2]

◆ archiveTrajectory() [2/2]

◆ assignTargetIDs() [1/2]

◆ assignTargetIDs() [2/2]

◆ calculateAssocScore4QuasiDTW() [1/2]

◆ calculateAssocScore4QuasiDTW() [2/2]

◆ calculateSimilarityBtwTracklets() [1/2]

◆ calculateSimilarityBtwTracklets() [2/2]

◆ calculateSizeSimilarityScore() [1/2]

◆ calculateSizeSimilarityScore() [2/2]

◆ calculateTrackletInclusionScore() [1/2]

◆ calculateTrackletInclusionScore() [2/2]

◆ checkDuplicateTracklet() [1/2]

◆ checkDuplicateTracklet() [2/2]

◆ cleanUpArchivedTrajectories() [1/2]

◆ cleanUpArchivedTrajectories() [2/2]

◆ cleanUpArchivedTrajectories_perStream() [1/2]

◆ cleanUpArchivedTrajectories_perStream() [2/2]

◆ computeAngleInDegree() [1/2]

◆ computeAngleInDegree() [2/2]

◆ computeSpeedSimilarity() [1/2]

◆ computeSpeedSimilarity() [2/2]

◆ createProjectedTrajectories() [1/2]

◆ createProjectedTrajectories() [2/2]

◆ detectMotion() [1/2]

◆ detectMotion() [2/2]

◆ dumpTrajectoryIntoFile() [1/2]

◆ dumpTrajectoryIntoFile() [2/2]

◆ findArchiveMatch4ReAssoc() [1/2]

◆ findArchiveMatch4ReAssoc() [2/2]

◆ findMatch4ReAssoc() [1/2]

◆ findMatch4ReAssoc() [2/2]

◆ fuseArchivedTracklets() [1/2]

◆ fuseArchivedTracklets() [2/2]

◆ fuseTracklets() [1/2]

◆ fuseTracklets() [2/2]

◆ generateNewTargetID() [1/2]

◆ generateNewTargetID() [2/2]

◆ generateTrackedObjects4ReidPerStream() [1/2]

◆ generateTrackedObjects4ReidPerStream() [2/2]

◆ getArchivedTrajectory() [1/2]

◆ getArchivedTrajectory() [2/2]

◆ getDumpDetectorBboxes() [1/2]

◆ getDumpDetectorBboxes() [2/2]

◆ getMinVisibility4TrajDump() [1/2]

◆ getMinVisibility4TrajDump() [2/2]

◆ getParams() [1/2]

◆ getParams() [2/2]

◆ getTrimmedTraj4ReAssoc() [1/2]

◆ getTrimmedTraj4ReAssoc() [2/2]

◆ peekNewTargetID() [1/2]

◆ peekNewTargetID() [2/2]

◆ processTrajectory() [1/2]

◆ processTrajectory() [2/2]

◆ purgeArchivedTrajectories() [1/2]

◆ purgeArchivedTrajectories() [2/2]

◆ removeFromProjectedTrajectoryDB() [1/2]

◆ removeFromProjectedTrajectoryDB() [2/2]

◆ resetIDs() [1/2]

◆ resetIDs() [2/2]

◆ setMultiViewAssociators() [1/2]

◆ setMultiViewAssociators() [2/2]

◆ setSrcFrameInfo() [1/2]

◆ setSrcFrameInfo() [2/2]

◆ try3DReAssoc() [1/2]