Detailed Description

Project and recover target geometry using camera and object models.

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

Collaboration diagram for ObjectModelProjector:

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Public Member Functions
	ObjectModelProjector ()
	Construct an uninitialized object-model projector. More...

	ObjectModelProjector (const std::string &configFilePath)
	Construct an object-model projector from configuration. More...

	ObjectModelProjector (const std::string &configFilePath, const NvMotDataTypes::Size imgSize, const NvMOTStreamId streamId)
	Construct and initialize a projector for a source stream. More...

	ObjectModelProjector (const std::string &configFilePath, const NvMotDataTypes::Size imgSize, const NvMOTStreamId streamId, const std::string &sensorName)
	Construct and initialize a projector for a named source sensor. More...

virtual	~ObjectModelProjector ()
	Destroy the object-model projector. More...

void	queryParams (NvMOTQuery &paramsQuery)
	Populate tracker query capabilities from projector configuration. More...

bool	isInitialized ()
	Return whether the projector has been initialized. More...

const std::string &	getSensorName () const
	Return the source sensor name. More...

RecoveredObjModel	getRecoveredObjectModelFromBbox (const NvMOTObjToTrack *detObj, const NvMOTFrameNum frameNum, const int targetInd, const bool isInitEstimation)
	Recover an object model from a detector bounding box. More...

RecoveredObjModel	getRecoveredObjectModelFromProj3DBbox (const NvMOTObjToTrack *detObj, const NvMOTFrameNum frameNum)
	Recover an object model from externally projected three-dimensional bounding-box data. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgFeet (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space feet point. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgWaist (const Eigen::Vector2d pt_img_waist, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space waist point. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgHead (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space head point. More...

RecoveredObjModel	getRecoveredObjectModelWithAdaptiveHeight (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_waist, const Eigen::Vector2d pt_img_foot, const NvMotDataTypes::Rect2f &bbox, const TrackerIndex &targetInd, const NvMOTClassId classId, float conf_head, float conf_waist, float conf_foot)
	Get recovered 3D cylinder model with dynamic height from pose keypoints. More...

Eigen::Vector2d	computeHeightAndWorldFeetFromHeadAndWaist (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_waist, const TrackerIndex &targetInd, const NvMOTClassId classId)
	Estimate target height and world feet position from image head and waist points. More...

Eigen::Vector2d	computeHeightAndWorldFeetFromHeadAndFoot (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_foot, const TrackerIndex &targetInd, const NvMOTClassId classId)
	Estimate target height and world feet position from image head and foot points. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from world-space feet coordinates. More...

const std::vector< Eigen::Vector2d >	getProjectedWorldGroundPts (const std::vector< Eigen::Vector2d > &pt_world_feet_list)
	Project world-ground points into image coordinates. More...

const Eigen::Vector2d	getCamHeadPtFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image waist point to the corresponding image head point. More...

const Eigen::Vector2d	getCamWaistPtFromCamHeadPt (const Eigen::Vector2d imgHeadPt, const NvMOTClassId classId, const int targetInd)
	Map an image head point to the corresponding image waist point. More...

const Eigen::Vector2d	getCamWaistPtFromCamFeetPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image feet point to the corresponding image waist point. More...

const Eigen::Vector2d	getCamFeetPtFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image waist point to the corresponding image feet point. More...

const Eigen::Vector2d	getWorldFeetPtOnGroundFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Recover world-ground feet coordinates from an image waist point. More...

const Eigen::Vector2d	getWorldFeetPtOnGroundFromCamFeetPt (const Eigen::Vector2d imgFeetPt, const NvMOTClassId classId, const int targetInd)
	Recover world-ground feet coordinates from an image feet point. More...

const NvDsObj3DBbox	getWorld3DBboxFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Build a world-space three-dimensional bounding box from feet coordinates. More...

std::vector< Eigen::Vector2d >	calculateProjCornersOf3DBboxFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project the eight corners of a world-space three-dimensional bounding box. More...

const Eigen::Vector2d	projectWorldPt2ImgPt (const Eigen::Vector3d pt_world)
	Project a world-space point into image coordinates. More...

bool	isTargetVisibleInImage (const Eigen::Vector2d &pt_world_feet, float targetHeight)
	Check if any point of a vertical target (from feet to head) projects into the camera FOV. More...

std::vector< Eigen::Vector2d >	calculateProjectedCircleFromWorldFeet (const Eigen::Vector2d pt_world_feet, const float radius)
	Project a horizontal circle centered at world-space feet coordinates. More...

const bool	getOutputFootLocation ()
	Return whether foot-location output is enabled. More...

const bool	getOutputConvexHull ()
	Return whether convex-hull output is enabled. More...

float	getMinPoseConfidence () const
	Return the minimum pose-keypoint confidence. More...

Eigen::Matrix2d	computeGroundCovariance (const Eigen::Vector2d &pixel_pt, float pixel_sigma)
	Compute ground plane position covariance from pixel uncertainty using Jacobian. More...

float	getTargetHeight () const
	Return the current target-model height. More...

float	getHeightConfidence () const
	Return the current height-estimation confidence. More...

void	setTargetHeight (float height, float confidence, bool force=false)
	Update target-model height when confidence permits. More...

void	setTargetModelForClass (NvMOTClassId classId)
	Select the target model for a class ID. More...

NvMOTClassId	getTargetClassId () const
	Return the current target-model class ID. More...

	ObjectModelProjector ()
	Construct an uninitialized object-model projector. More...

	ObjectModelProjector (const std::string &configFilePath)
	Construct an object-model projector from configuration. More...

	ObjectModelProjector (const std::string &configFilePath, const NvMotDataTypes::Size imgSize, const NvMOTStreamId streamId)
	Construct and initialize a projector for a source stream. More...

	ObjectModelProjector (const std::string &configFilePath, const NvMotDataTypes::Size imgSize, const NvMOTStreamId streamId, const std::string &sensorName)
	Construct and initialize a projector for a named source sensor. More...

virtual	~ObjectModelProjector ()
	Destroy the object-model projector. More...

void	queryParams (NvMOTQuery &paramsQuery)
	Populate tracker query capabilities from projector configuration. More...

bool	isInitialized ()
	Return whether the projector has been initialized. More...

const std::string &	getSensorName () const
	Return the source sensor name. More...

RecoveredObjModel	getRecoveredObjectModelFromBbox (const NvMOTObjToTrack *detObj, const NvMOTFrameNum frameNum, const int targetInd, const bool isInitEstimation)
	Recover an object model from a detector bounding box. More...

RecoveredObjModel	getRecoveredObjectModelFromProj3DBbox (const NvMOTObjToTrack *detObj, const NvMOTFrameNum frameNum)
	Recover an object model from externally projected three-dimensional bounding-box data. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgFeet (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space feet point. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgWaist (const Eigen::Vector2d pt_img_waist, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space waist point. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromImgHead (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from an image-space head point. More...

RecoveredObjModel	getRecoveredObjectModelWithAdaptiveHeight (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_waist, const Eigen::Vector2d pt_img_foot, const NvMotDataTypes::Rect2f &bbox, const TrackerIndex &targetInd, const NvMOTClassId classId, float conf_head, float conf_waist, float conf_foot)
	Get recovered 3D cylinder model with dynamic height from pose keypoints. More...

Eigen::Vector2d	computeHeightAndWorldFeetFromHeadAndWaist (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_waist, const TrackerIndex &targetInd, const NvMOTClassId classId)
	Estimate target height and world feet position from image head and waist points. More...

Eigen::Vector2d	computeHeightAndWorldFeetFromHeadAndFoot (const Eigen::Vector2d pt_img_head, const Eigen::Vector2d pt_img_foot, const TrackerIndex &targetInd, const NvMOTClassId classId)
	Estimate target height and world feet position from image head and foot points. More...

const NvMotDataTypes::Rect2f	getBboxOfProjectedCylinderFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder bounding box from world-space feet coordinates. More...

const std::vector< Eigen::Vector2d >	getProjectedWorldGroundPts (const std::vector< Eigen::Vector2d > &pt_world_feet_list)
	Project world-ground points into image coordinates. More...

const Eigen::Vector2d	getCamHeadPtFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image waist point to the corresponding image head point. More...

const Eigen::Vector2d	getCamWaistPtFromCamHeadPt (const Eigen::Vector2d imgHeadPt, const NvMOTClassId classId, const int targetInd)
	Map an image head point to the corresponding image waist point. More...

const Eigen::Vector2d	getCamWaistPtFromCamFeetPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image feet point to the corresponding image waist point. More...

const Eigen::Vector2d	getCamFeetPtFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Map an image waist point to the corresponding image feet point. More...

const Eigen::Vector2d	getWorldFeetPtOnGroundFromCamWaistPt (const Eigen::Vector2d imgWaistPt, const NvMOTClassId classId, const int targetInd)
	Recover world-ground feet coordinates from an image waist point. More...

const Eigen::Vector2d	getWorldFeetPtOnGroundFromCamFeetPt (const Eigen::Vector2d imgFeetPt, const NvMOTClassId classId, const int targetInd)
	Recover world-ground feet coordinates from an image feet point. More...

const NvDsObj3DBbox	getWorld3DBboxFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Build a world-space three-dimensional bounding box from feet coordinates. More...

std::vector< Eigen::Vector2d >	calculateProjCornersOf3DBboxFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project the eight corners of a world-space three-dimensional bounding box. More...

const Eigen::Vector2d	projectWorldPt2ImgPt (const Eigen::Vector3d pt_world)
	Project a world-space point into image coordinates. More...

bool	isTargetVisibleInImage (const Eigen::Vector2d &pt_world_feet, float targetHeight)
	Check if any point of a vertical target (from feet to head) projects into the camera FOV. More...

std::vector< Eigen::Vector2d >	calculateProjectedCircleFromWorldFeet (const Eigen::Vector2d pt_world_feet, const float radius)
	Project a horizontal circle centered at world-space feet coordinates. More...

const bool	getOutputFootLocation ()
	Return whether foot-location output is enabled. More...

const bool	getOutputConvexHull ()
	Return whether convex-hull output is enabled. More...

float	getMinPoseConfidence () const
	Return the minimum pose-keypoint confidence. More...

Eigen::Matrix2d	computeGroundCovariance (const Eigen::Vector2d &pixel_pt, float pixel_sigma)
	Compute ground plane position covariance from pixel uncertainty using Jacobian. More...

float	getTargetHeight () const
	Return the current target-model height. More...

float	getHeightConfidence () const
	Return the current height-estimation confidence. More...

void	setTargetHeight (float height, float confidence, bool force=false)
	Update target-model height when confidence permits. More...

void	setTargetModelForClass (NvMOTClassId classId)
	Select the target model for a class ID. More...

NvMOTClassId	getTargetClassId () const
	Return the current target-model class ID. More...

Protected Member Functions
const Eigen::MatrixXd	convertYamlVec2EigenMatrixXd (YAML::Node yamlVec, const int rows, const int cols)
	Convert a nested YAML sequence to an Eigen matrix. More...

bool	importCameraModelInfo (const std::string filename)
	Import camera-model calibration from a YAML file. More...

bool	importExternalProj3DBboxInfo (const std::string filename)
	Import externally projected three-dimensional bounding boxes. More...

const Model3DInfo &	getDefaultModelByClass (const NvMOTClassId classId)
	Return the default three-dimensional model for a class. More...

const TargetHomography &	getDefaultHomographyMatByClass (const NvMOTClassId classId)
	Return the default homographies for a class. More...

void	deriveDataFromCameraProjMatrix (TargetHomography &homographyMat, const Model3DInfo &humanModel)
	Derive target-plane homographies from the camera projection matrix. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgWaist (const Eigen::Vector2d pt_img_waist, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space waist point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgHead (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space head point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgFeet (const Eigen::Vector2d pt_img_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space feet point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from world-space feet coordinates. More...

bool	isTargetModelValid (TrackerIndex targetInd, NvMOTClassId classId)
	Return whether the current target model is valid for a target. More...

const Eigen::MatrixXd	convertYamlVec2EigenMatrixXd (YAML::Node yamlVec, const int rows, const int cols)
	Convert a nested YAML sequence to an Eigen matrix. More...

bool	importCameraModelInfo (const std::string filename)
	Import camera-model calibration from a YAML file. More...

bool	importExternalProj3DBboxInfo (const std::string filename)
	Import externally projected three-dimensional bounding boxes. More...

const Model3DInfo &	getDefaultModelByClass (const NvMOTClassId classId)
	Return the default three-dimensional model for a class. More...

const TargetHomography &	getDefaultHomographyMatByClass (const NvMOTClassId classId)
	Return the default homographies for a class. More...

void	deriveDataFromCameraProjMatrix (TargetHomography &homographyMat, const Model3DInfo &humanModel)
	Derive target-plane homographies from the camera projection matrix. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgWaist (const Eigen::Vector2d pt_img_waist, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space waist point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgHead (const Eigen::Vector2d pt_img_head, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space head point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromImgFeet (const Eigen::Vector2d pt_img_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from an image-space feet point. More...

std::vector< Eigen::Vector2d >	calculateProjectedCylinderFromWorldFeet (const Eigen::Vector2d pt_world_feet, const NvMOTClassId classId, const int targetInd)
	Project a cylinder from world-space feet coordinates. More...

bool	isTargetModelValid (TrackerIndex targetInd, NvMOTClassId classId)
	Return whether the current target model is valid for a target. More...

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

uint	m_streamInd
	Index of the corresponding source stream. More...

std::string	m_sensorName
	Sensor name of the corresponding source stream. More...

const std::string	m_configFilePath
	Path of the module config file. More...

std::string	m_resolvedCameraModelFilepath
	Resolved camera model filepath for this stream. More...

NvTrackerParamsObjectModelProjector	m_params
	Config params for target management. More...

NvMotDataTypes::Size	m_srcFrameSize
	Source video frame size where the bbox info is based on. More...

CameraInfo	m_cameraInfo
	Set camera parameters. More...

std::vector< std::vector< Proj3DBboxInfo > >	m_externalProj3DBboxInfo
	Store projected 3D bounding box info for all frames in the stream. More...

Model3DInfo	m_targetModel
	Each target's object model can be different in size. More...

NvMOTClassId	m_targetClassId
	Projector's current target model class ID. More...

std::map< NvMOTClassId, Model3DInfo >	m_defaultModelByClass
	Each class's object model. More...

float	m_groundPlaneHeight
	Specifies the world-space ground-plane height. More...

CameraMatrix	m_ProjMat_World2Cam
	Stores the world-to-camera projection matrix. More...

IntrinsicMatrix	m_K
	Intrinsic matrix. More...

IntrinsicMatrix	m_K_inv
	Inverse of intrinsic matrix. More...

RotationMatrix	m_R
	Rotation matrix (world to camera). More...

RotationMatrix	m_R_T
	Transpose of rotation matrix. More...

TranslationMatrix	m_t
	Translation vector. More...

Eigen::Vector2d	m_pix2cam_offset
	Shifts corner-origin pixels to the optical center for projectionMatrix_3x4. More...

HomographyMatrix	m_H_ground
	Ground-plane homography, independent of target height. More...

HomographyMatrix	m_H_ground_inv
	Inverse of ground plane homography. More...

Eigen::Vector3d	m_r3
	Third row of R^T (for ground plane intersection). More...

Eigen::Vector3d	m_P_z_col
	P[:,2] - projection matrix Z column (height update direction). More...

Eigen::Vector3d	m_H_inv_Pz
	H_ground_inv * P_z_col (precomputed for Sherman-Morrison). More...

TranslationMatrix	m_camLocation_World
	Camera position in world coordinate system. More...

TargetHomography	m_targetHomographyMat
	Homography matrices for head, waist, and feet planes composed from the projection matrix. More...

std::map< NvMOTClassId, TargetHomography >	m_defaultHomographyMatByClass
	Stores default target homographies by class. More...

Constructor & Destructor Documentation

◆ ObjectModelProjector() [1/8]

ObjectModelProjector::ObjectModelProjector ( )

Construct an uninitialized object-model projector.

◆ ObjectModelProjector() [2/8]

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

Construct an object-model projector from configuration.

Parameters

[in] configFilePath Path to the configuration file.

◆ ObjectModelProjector() [3/8]

ObjectModelProjector::ObjectModelProjector	(	const std::string &	configFilePath,
		const NvMotDataTypes::Size	imgSize,
		const NvMOTStreamId	streamId
	)

Construct and initialize a projector for a source stream.

Parameters

[in]	configFilePath	Path to the configuration file.
[in]	imgSize	Source image size.
[in]	streamId	Source stream identifier.

◆ ObjectModelProjector() [4/8]

ObjectModelProjector::ObjectModelProjector	(	const std::string &	configFilePath,
		const NvMotDataTypes::Size	imgSize,
		const NvMOTStreamId	streamId,
		const std::string &	sensorName
	)

Construct and initialize a projector for a named source sensor.

Parameters

[in]	configFilePath	Path to the configuration file.
[in]	imgSize	Source image size.
[in]	streamId	Source stream identifier.
[in]	sensorName	Source sensor name.

◆ ~ObjectModelProjector() [1/2]

virtual ObjectModelProjector::~ObjectModelProjector ( )

virtual

Destroy the object-model projector.

◆ ObjectModelProjector() [5/8]

ObjectModelProjector::ObjectModelProjector ( )

Construct an uninitialized object-model projector.

◆ ObjectModelProjector() [6/8]

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

Construct an object-model projector from configuration.

Parameters

[in] configFilePath Path to the configuration file.

◆ ObjectModelProjector() [7/8]

ObjectModelProjector::ObjectModelProjector	(	const std::string &	configFilePath,
		const NvMotDataTypes::Size	imgSize,
		const NvMOTStreamId	streamId
	)

Construct and initialize a projector for a source stream.

Parameters

[in]	configFilePath	Path to the configuration file.
[in]	imgSize	Source image size.
[in]	streamId	Source stream identifier.

◆ ObjectModelProjector() [8/8]

ObjectModelProjector::ObjectModelProjector	(	const std::string &	configFilePath,
		const NvMotDataTypes::Size	imgSize,
		const NvMOTStreamId	streamId,
		const std::string &	sensorName
	)

Construct and initialize a projector for a named source sensor.

Parameters

[in]	configFilePath	Path to the configuration file.
[in]	imgSize	Source image size.
[in]	streamId	Source stream identifier.
[in]	sensorName	Source sensor name.

◆ ~ObjectModelProjector() [2/2]

virtual ObjectModelProjector::~ObjectModelProjector ( )

virtual

Destroy the object-model projector.

Member Function Documentation

◆ calculateProjCornersOf3DBboxFromWorldFeet() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjCornersOf3DBboxFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project the eight corners of a world-space three-dimensional bounding box.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjCornersOf3DBboxFromWorldFeet() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjCornersOf3DBboxFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project the eight corners of a world-space three-dimensional bounding box.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCircleFromWorldFeet() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCircleFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const float	radius
	)

Project a horizontal circle centered at world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	radius	Circle radius.

◆ calculateProjectedCircleFromWorldFeet() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCircleFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const float	radius
	)

Project a horizontal circle centered at world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	radius	Circle radius.

◆ calculateProjectedCylinderFromImgFeet() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgFeet	(	const Eigen::Vector2d	pt_img_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space feet point.

Parameters

[in]	pt_img_feet	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromImgFeet() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgFeet	(	const Eigen::Vector2d	pt_img_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space feet point.

Parameters

[in]	pt_img_feet	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromImgHead() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgHead	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space head point.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromImgHead() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgHead	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space head point.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromImgWaist() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgWaist	(	const Eigen::Vector2d	pt_img_waist,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space waist point.

Parameters

[in]	pt_img_waist	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromImgWaist() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromImgWaist	(	const Eigen::Vector2d	pt_img_waist,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from an image-space waist point.

Parameters

[in]	pt_img_waist	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromWorldFeet() [1/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ calculateProjectedCylinderFromWorldFeet() [2/2]

std::vector<Eigen::Vector2d> ObjectModelProjector::calculateProjectedCylinderFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

protected

Project a cylinder from world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ computeGroundCovariance() [1/2]

Eigen::Matrix2d ObjectModelProjector::computeGroundCovariance	(	const Eigen::Vector2d &	pixel_pt,
		float	pixel_sigma
	)

Compute ground plane position covariance from pixel uncertainty using Jacobian.

Parameters

[in]	pixel_pt	The pixel coordinates (u, v).
[in]	pixel_sigma	Standard deviation of pixel noise.

◆ computeGroundCovariance() [2/2]

Eigen::Matrix2d ObjectModelProjector::computeGroundCovariance	(	const Eigen::Vector2d &	pixel_pt,
		float	pixel_sigma
	)

Compute ground plane position covariance from pixel uncertainty using Jacobian.

Parameters

[in]	pixel_pt	The pixel coordinates (u, v).
[in]	pixel_sigma	Standard deviation of pixel noise.

◆ computeHeightAndWorldFeetFromHeadAndFoot() [1/2]

Eigen::Vector2d ObjectModelProjector::computeHeightAndWorldFeetFromHeadAndFoot	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_foot,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId
	)

Estimate target height and world feet position from image head and foot points.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	pt_img_foot	Image-space foot point.
[in]	targetInd	Target index.
[in]	classId	Target class ID.

◆ computeHeightAndWorldFeetFromHeadAndFoot() [2/2]

Eigen::Vector2d ObjectModelProjector::computeHeightAndWorldFeetFromHeadAndFoot	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_foot,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId
	)

Estimate target height and world feet position from image head and foot points.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	pt_img_foot	Image-space foot point.
[in]	targetInd	Target index.
[in]	classId	Target class ID.

◆ computeHeightAndWorldFeetFromHeadAndWaist() [1/2]

Eigen::Vector2d ObjectModelProjector::computeHeightAndWorldFeetFromHeadAndWaist	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_waist,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId
	)

Estimate target height and world feet position from image head and waist points.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	pt_img_waist	Image-space waist point.
[in]	targetInd	Target index.
[in]	classId	Target class ID.

◆ computeHeightAndWorldFeetFromHeadAndWaist() [2/2]

Eigen::Vector2d ObjectModelProjector::computeHeightAndWorldFeetFromHeadAndWaist	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_waist,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId
	)

Estimate target height and world feet position from image head and waist points.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	pt_img_waist	Image-space waist point.
[in]	targetInd	Target index.
[in]	classId	Target class ID.

◆ convertYamlVec2EigenMatrixXd() [1/2]

const Eigen::MatrixXd ObjectModelProjector::convertYamlVec2EigenMatrixXd	(	YAML::Node	yamlVec,
		const int	rows,
		const int	cols
	)

protected

Convert a nested YAML sequence to an Eigen matrix.

Parameters

[in]	yamlVec	YAML matrix values.
[in]	rows	Matrix row count.
[in]	cols	Matrix column count.

◆ convertYamlVec2EigenMatrixXd() [2/2]

const Eigen::MatrixXd ObjectModelProjector::convertYamlVec2EigenMatrixXd	(	YAML::Node	yamlVec,
		const int	rows,
		const int	cols
	)

protected

Convert a nested YAML sequence to an Eigen matrix.

Parameters

[in]	yamlVec	YAML matrix values.
[in]	rows	Matrix row count.
[in]	cols	Matrix column count.

◆ deriveDataFromCameraProjMatrix() [1/2]

void ObjectModelProjector::deriveDataFromCameraProjMatrix	(	TargetHomography &	homographyMat,
		const Model3DInfo &	humanModel
	)

protected

Derive target-plane homographies from the camera projection matrix.

Parameters

[out]	homographyMat	Target homographies to populate.
[in]	humanModel	Target model dimensions.

Referenced by setTargetHeight().

◆ deriveDataFromCameraProjMatrix() [2/2]

void ObjectModelProjector::deriveDataFromCameraProjMatrix	(	TargetHomography &	homographyMat,
		const Model3DInfo &	humanModel
	)

protected

Derive target-plane homographies from the camera projection matrix.

Parameters

[out]	homographyMat	Target homographies to populate.
[in]	humanModel	Target model dimensions.

◆ getBboxOfProjectedCylinderFromImgFeet() [1/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgFeet	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space feet point.

Parameters

[in]	pt_img_head	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromImgFeet() [2/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgFeet	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space feet point.

Parameters

[in]	pt_img_head	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromImgHead() [1/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgHead	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space head point.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromImgHead() [2/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgHead	(	const Eigen::Vector2d	pt_img_head,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space head point.

Parameters

[in]	pt_img_head	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromImgWaist() [1/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgWaist	(	const Eigen::Vector2d	pt_img_waist,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space waist point.

Parameters

[in]	pt_img_waist	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromImgWaist() [2/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromImgWaist	(	const Eigen::Vector2d	pt_img_waist,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from an image-space waist point.

Parameters

[in]	pt_img_waist	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromWorldFeet() [1/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getBboxOfProjectedCylinderFromWorldFeet() [2/2]

const NvMotDataTypes::Rect2f ObjectModelProjector::getBboxOfProjectedCylinderFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Project a cylinder bounding box from world-space feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamFeetPtFromCamWaistPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getCamFeetPtFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image waist point to the corresponding image feet point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamFeetPtFromCamWaistPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getCamFeetPtFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image waist point to the corresponding image feet point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamHeadPtFromCamWaistPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getCamHeadPtFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image waist point to the corresponding image head point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamHeadPtFromCamWaistPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getCamHeadPtFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image waist point to the corresponding image head point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamWaistPtFromCamFeetPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getCamWaistPtFromCamFeetPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image feet point to the corresponding image waist point.

Parameters

[in]	imgWaistPt	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamWaistPtFromCamFeetPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getCamWaistPtFromCamFeetPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image feet point to the corresponding image waist point.

Parameters

[in]	imgWaistPt	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamWaistPtFromCamHeadPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getCamWaistPtFromCamHeadPt	(	const Eigen::Vector2d	imgHeadPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image head point to the corresponding image waist point.

Parameters

[in]	imgHeadPt	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getCamWaistPtFromCamHeadPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getCamWaistPtFromCamHeadPt	(	const Eigen::Vector2d	imgHeadPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Map an image head point to the corresponding image waist point.

Parameters

[in]	imgHeadPt	Image-space head point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getDefaultHomographyMatByClass() [1/2]

const TargetHomography& ObjectModelProjector::getDefaultHomographyMatByClass ( const NvMOTClassId classId )

inlineprotected

Return the default homographies for a class.

Parameters

[in] classId Target class ID.

Fallback to first available homography matrix if no homography matrix is defined for the given class ID and print a warning.

Definition at line 593 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_debugVerboseLevel, m_defaultHomographyMatByClass, and m_params.

Referenced by setTargetModelForClass().

◆ getDefaultHomographyMatByClass() [2/2]

const TargetHomography& ObjectModelProjector::getDefaultHomographyMatByClass ( const NvMOTClassId classId )

inlineprotected

Return the default homographies for a class.

Parameters

[in] classId Target class ID.

Fallback to first available homography matrix if no homography matrix is defined for the given class ID and print a warning.

Definition at line 593 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_debugVerboseLevel.

◆ getDefaultModelByClass() [1/2]

const Model3DInfo& ObjectModelProjector::getDefaultModelByClass ( const NvMOTClassId classId )

inlineprotected

Return the default three-dimensional model for a class.

Parameters

[in] classId Target class ID.

Fallback to first available model if no model is defined for the given class ID and print a warning.

Definition at line 571 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_debugVerboseLevel, m_defaultModelByClass, and m_params.

Referenced by setTargetModelForClass().

◆ getDefaultModelByClass() [2/2]

const Model3DInfo& ObjectModelProjector::getDefaultModelByClass ( const NvMOTClassId classId )

inlineprotected

Return the default three-dimensional model for a class.

Parameters

[in] classId Target class ID.

Fallback to first available model if no model is defined for the given class ID and print a warning.

Definition at line 571 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_debugVerboseLevel.

◆ getHeightConfidence() [1/2]

float ObjectModelProjector::getHeightConfidence ( ) const

inline

Return the current height-estimation confidence.

Definition at line 467 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getHeightConfidence() [2/2]

float ObjectModelProjector::getHeightConfidence ( ) const

inline

Return the current height-estimation confidence.

Definition at line 467 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References Model3DInfo::heightConfidence, and m_targetModel.

◆ getMinPoseConfidence() [1/2]

float ObjectModelProjector::getMinPoseConfidence ( ) const

inline

Return the minimum pose-keypoint confidence.

Definition at line 454 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getMinPoseConfidence() [2/2]

float ObjectModelProjector::getMinPoseConfidence ( ) const

inline

Return the minimum pose-keypoint confidence.

Definition at line 454 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_minPoseConfidence, and m_params.

◆ getOutputConvexHull() [1/2]

const bool ObjectModelProjector::getOutputConvexHull ( )

inline

Return whether convex-hull output is enabled.

Definition at line 451 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getOutputConvexHull() [2/2]

const bool ObjectModelProjector::getOutputConvexHull ( )

inline

Return whether convex-hull output is enabled.

Definition at line 451 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_outputConvexHull, and m_params.

◆ getOutputFootLocation() [1/2]

const bool ObjectModelProjector::getOutputFootLocation ( )

inline

Return whether foot-location output is enabled.

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

◆ getOutputFootLocation() [2/2]

const bool ObjectModelProjector::getOutputFootLocation ( )

inline

Return whether foot-location output is enabled.

Definition at line 448 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References NvTrackerParamsObjectModelProjector::m_outputFootLocation, and m_params.

◆ getProjectedWorldGroundPts() [1/2]

const std::vector<Eigen::Vector2d> ObjectModelProjector::getProjectedWorldGroundPts ( const std::vector< Eigen::Vector2d > & pt_world_feet_list )

Project world-ground points into image coordinates.

Parameters

[in] pt_world_feet_list World-ground points to project.

◆ getProjectedWorldGroundPts() [2/2]

const std::vector<Eigen::Vector2d> ObjectModelProjector::getProjectedWorldGroundPts ( const std::vector< Eigen::Vector2d > & pt_world_feet_list )

Project world-ground points into image coordinates.

Parameters

[in] pt_world_feet_list World-ground points to project.

◆ getRecoveredObjectModelFromBbox() [1/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelFromBbox	(	const NvMOTObjToTrack *	detObj,
		const NvMOTFrameNum	frameNum,
		const int	targetInd,
		const bool	isInitEstimation
	)

Recover an object model from a detector bounding box.

Parameters

[in]	detObj	Detected object to project.
[in]	frameNum	Current frame number.
[in]	targetInd	Target index, or a negative value when unavailable.
[in]	isInitEstimation	Whether this is the target's initial estimate.

◆ getRecoveredObjectModelFromBbox() [2/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelFromBbox	(	const NvMOTObjToTrack *	detObj,
		const NvMOTFrameNum	frameNum,
		const int	targetInd,
		const bool	isInitEstimation
	)

Recover an object model from a detector bounding box.

Parameters

[in]	detObj	Detected object to project.
[in]	frameNum	Current frame number.
[in]	targetInd	Target index, or a negative value when unavailable.
[in]	isInitEstimation	Whether this is the target's initial estimate.

◆ getRecoveredObjectModelFromProj3DBbox() [1/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelFromProj3DBbox	(	const NvMOTObjToTrack *	detObj,
		const NvMOTFrameNum	frameNum
	)

Recover an object model from externally projected three-dimensional bounding-box data.

Parameters

[in]	detObj	Detected object to match.
[in]	frameNum	Current frame number.

◆ getRecoveredObjectModelFromProj3DBbox() [2/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelFromProj3DBbox	(	const NvMOTObjToTrack *	detObj,
		const NvMOTFrameNum	frameNum
	)

Recover an object model from externally projected three-dimensional bounding-box data.

Parameters

[in]	detObj	Detected object to match.
[in]	frameNum	Current frame number.

◆ getRecoveredObjectModelWithAdaptiveHeight() [1/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelWithAdaptiveHeight	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_waist,
		const Eigen::Vector2d	pt_img_foot,
		const NvMotDataTypes::Rect2f &	bbox,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId,
		float	conf_head,
		float	conf_waist,
		float	conf_foot
	)

Get recovered 3D cylinder model with dynamic height from pose keypoints.

Parameters

[in]	pt_img_head	The head location on the image.
[in]	pt_img_waist	The waist location on the image.
[in]	pt_img_foot	The foot location on the image.
[in]	bbox	The bounding box.
[in]	targetInd	The target index.
[in]	classId	The class ID.
[in]	conf_head	Confidence of the head keypoint.
[in]	conf_waist	Confidence of the waist keypoint.
[in]	conf_foot	Confidence of the foot keypoint.

Returns: Recovered 3D cylinder model with dynamic height.

◆ getRecoveredObjectModelWithAdaptiveHeight() [2/2]

RecoveredObjModel ObjectModelProjector::getRecoveredObjectModelWithAdaptiveHeight	(	const Eigen::Vector2d	pt_img_head,
		const Eigen::Vector2d	pt_img_waist,
		const Eigen::Vector2d	pt_img_foot,
		const NvMotDataTypes::Rect2f &	bbox,
		const TrackerIndex &	targetInd,
		const NvMOTClassId	classId,
		float	conf_head,
		float	conf_waist,
		float	conf_foot
	)

Get recovered 3D cylinder model with dynamic height from pose keypoints.

Parameters

[in]	pt_img_head	The head location on the image.
[in]	pt_img_waist	The waist location on the image.
[in]	pt_img_foot	The foot location on the image.
[in]	bbox	The bounding box.
[in]	targetInd	The target index.
[in]	classId	The class ID.
[in]	conf_head	Confidence of the head keypoint.
[in]	conf_waist	Confidence of the waist keypoint.
[in]	conf_foot	Confidence of the foot keypoint.

Returns: Recovered 3D cylinder model with dynamic height.

◆ getSensorName() [1/2]

const std::string& ObjectModelProjector::getSensorName ( ) const

inline

Return the source sensor name.

Definition at line 231 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References m_sensorName.

◆ getSensorName() [2/2]

const std::string& ObjectModelProjector::getSensorName ( ) const

inline

Return the source sensor name.

Definition at line 231 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getTargetClassId() [1/2]

NvMOTClassId ObjectModelProjector::getTargetClassId ( ) const

inline

Return the current target-model class ID.

Definition at line 505 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References m_targetClassId.

◆ getTargetClassId() [2/2]

NvMOTClassId ObjectModelProjector::getTargetClassId ( ) const

inline

Return the current target-model class ID.

Definition at line 505 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getTargetHeight() [1/2]

float ObjectModelProjector::getTargetHeight ( ) const

inline

Return the current target-model height.

Definition at line 464 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ getTargetHeight() [2/2]

float ObjectModelProjector::getTargetHeight ( ) const

inline

Return the current target-model height.

Definition at line 464 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References Model3DInfo::height, and m_targetModel.

◆ getWorld3DBboxFromWorldFeet() [1/2]

const NvDsObj3DBbox ObjectModelProjector::getWorld3DBboxFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Build a world-space three-dimensional bounding box from feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getWorld3DBboxFromWorldFeet() [2/2]

const NvDsObj3DBbox ObjectModelProjector::getWorld3DBboxFromWorldFeet	(	const Eigen::Vector2d	pt_world_feet,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Build a world-space three-dimensional bounding box from feet coordinates.

Parameters

[in]	pt_world_feet	World-space feet position.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getWorldFeetPtOnGroundFromCamFeetPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getWorldFeetPtOnGroundFromCamFeetPt	(	const Eigen::Vector2d	imgFeetPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Recover world-ground feet coordinates from an image feet point.

Parameters

[in]	imgFeetPt	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getWorldFeetPtOnGroundFromCamFeetPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getWorldFeetPtOnGroundFromCamFeetPt	(	const Eigen::Vector2d	imgFeetPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Recover world-ground feet coordinates from an image feet point.

Parameters

[in]	imgFeetPt	Image-space feet point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getWorldFeetPtOnGroundFromCamWaistPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::getWorldFeetPtOnGroundFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Recover world-ground feet coordinates from an image waist point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ getWorldFeetPtOnGroundFromCamWaistPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::getWorldFeetPtOnGroundFromCamWaistPt	(	const Eigen::Vector2d	imgWaistPt,
		const NvMOTClassId	classId,
		const int	targetInd
	)

Recover world-ground feet coordinates from an image waist point.

Parameters

[in]	imgWaistPt	Image-space waist point.
[in]	classId	Target class ID.
[in]	targetInd	Target index.

◆ importCameraModelInfo() [1/2]

bool ObjectModelProjector::importCameraModelInfo ( const std::string filename )

protected

Import camera-model calibration from a YAML file.

Parameters

[in] filename Camera-model file path.

Returns: True when the camera model is imported successfully.

◆ importCameraModelInfo() [2/2]

bool ObjectModelProjector::importCameraModelInfo ( const std::string filename )

protected

Import camera-model calibration from a YAML file.

Parameters

[in] filename Camera-model file path.

Returns: True when the camera model is imported successfully.

◆ importExternalProj3DBboxInfo() [1/2]

bool ObjectModelProjector::importExternalProj3DBboxInfo ( const std::string filename )

protected

Import externally projected three-dimensional bounding boxes.

Parameters

[in] filename Projected bounding-box file path.

Returns: True when the bounding boxes are imported successfully.

◆ importExternalProj3DBboxInfo() [2/2]

bool ObjectModelProjector::importExternalProj3DBboxInfo ( const std::string filename )

protected

Import externally projected three-dimensional bounding boxes.

Parameters

[in] filename Projected bounding-box file path.

Returns: True when the bounding boxes are imported successfully.

◆ isInitialized() [1/2]

bool ObjectModelProjector::isInitialized ( )

inline

Return whether the projector has been initialized.

Definition at line 228 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References m_isInit.

◆ isInitialized() [2/2]

bool ObjectModelProjector::isInitialized ( )

inline

Return whether the projector has been initialized.

Definition at line 228 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ isTargetModelValid() [1/2]

bool ObjectModelProjector::isTargetModelValid	(	TrackerIndex	targetInd,
		NvMOTClassId	classId
	)

inlineprotected

Return whether the current target model is valid for a target.

Parameters

[in]	targetInd	Target index.
[in]	classId	Target class ID.

Definition at line 663 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References Model3DInfo::height, and Model3DInfo::radius.

◆ isTargetModelValid() [2/2]

bool ObjectModelProjector::isTargetModelValid	(	TrackerIndex	targetInd,
		NvMOTClassId	classId
	)

inlineprotected

Return whether the current target model is valid for a target.

Parameters

[in]	targetInd	Target index.
[in]	classId	Target class ID.

Definition at line 663 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References Model3DInfo::height, m_targetClassId, m_targetModel, and Model3DInfo::radius.

◆ isTargetVisibleInImage() [1/2]

bool ObjectModelProjector::isTargetVisibleInImage	(	const Eigen::Vector2d &	pt_world_feet,
		float	targetHeight
	)

Check if any point of a vertical target (from feet to head) projects into the camera FOV.

Parameters

[in]	pt_world_feet	World coordinates of feet (X, Y on ground plane).
[in]	targetHeight	Actual height of the target (uses adaptive height if available).

Returns: True if any part of the target's vertical extent is visible in the image.

◆ isTargetVisibleInImage() [2/2]

bool ObjectModelProjector::isTargetVisibleInImage	(	const Eigen::Vector2d &	pt_world_feet,
		float	targetHeight
	)

Check if any point of a vertical target (from feet to head) projects into the camera FOV.

Parameters

[in]	pt_world_feet	World coordinates of feet (X, Y on ground plane).
[in]	targetHeight	Actual height of the target (uses adaptive height if available).

Returns: True if any part of the target's vertical extent is visible in the image.

◆ projectWorldPt2ImgPt() [1/2]

const Eigen::Vector2d ObjectModelProjector::projectWorldPt2ImgPt ( const Eigen::Vector3d pt_world )

Project a world-space point into image coordinates.

Parameters

[in] pt_world World-space point.

◆ projectWorldPt2ImgPt() [2/2]

const Eigen::Vector2d ObjectModelProjector::projectWorldPt2ImgPt ( const Eigen::Vector3d pt_world )

Project a world-space point into image coordinates.

Parameters

[in] pt_world World-space point.

◆ queryParams() [1/2]

void ObjectModelProjector::queryParams ( NvMOTQuery & paramsQuery )

Populate tracker query capabilities from projector configuration.

Parameters

[out] paramsQuery Tracker query structure to update.

◆ queryParams() [2/2]

void ObjectModelProjector::queryParams ( NvMOTQuery & paramsQuery )

Populate tracker query capabilities from projector configuration.

Parameters

[out] paramsQuery Tracker query structure to update.

◆ setTargetHeight() [1/2]

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

inline

Update target-model height when confidence permits.

Parameters

[in]	height	New target height.
[in]	confidence	Confidence of the new height.
[in]	force	Whether to update regardless of confidence.

Only update if new confidence >= current (or force is true).

Definition at line 475 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ setTargetHeight() [2/2]

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

inline

Update target-model height when confidence permits.

Parameters

[in]	height	New target height.
[in]	confidence	Confidence of the new height.
[in]	force	Whether to update regardless of confidence.

Only update if new confidence >= current (or force is true).

Definition at line 475 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References deriveDataFromCameraProjMatrix(), Model3DInfo::height, Model3DInfo::heightConfidence, m_targetHomographyMat, and m_targetModel.

◆ setTargetModelForClass() [1/2]

void ObjectModelProjector::setTargetModelForClass ( NvMOTClassId classId )

inline

Select the target model for a class ID.

Parameters

[in] classId Target class ID.

Early return if current class matches the new class.

Definition at line 489 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

References getDefaultHomographyMatByClass(), getDefaultModelByClass(), Model3DInfo::height, NvTrackerParamsObjectModelProjector::m_debugVerboseLevel, m_params, m_targetClassId, m_targetHomographyMat, m_targetModel, and Model3DInfo::radius.

◆ setTargetModelForClass() [2/2]

void ObjectModelProjector::setTargetModelForClass ( NvMOTClassId classId )

inline

Select the target model for a class ID.

Parameters

[in] classId Target class ID.

Early return if current class matches the new class.

Definition at line 489 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Field Documentation

◆ m_cameraInfo

CameraInfo ObjectModelProjector::m_cameraInfo

protected

Set camera parameters.

Definition at line 518 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_camLocation_World

TranslationMatrix ObjectModelProjector::m_camLocation_World

protected

Camera position in world coordinate system.

Definition at line 541 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_configFilePath

const std::string ObjectModelProjector::m_configFilePath

protected

Path of the module config file.

Definition at line 514 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_defaultHomographyMatByClass

std::map< NvMOTClassId, TargetHomography > ObjectModelProjector::m_defaultHomographyMatByClass

protected

Stores default target homographies by class.

Definition at line 543 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getDefaultHomographyMatByClass().

◆ m_defaultModelByClass

std::map< NvMOTClassId, Model3DInfo > ObjectModelProjector::m_defaultModelByClass

protected

Each class's object model.

Definition at line 522 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getDefaultModelByClass().

◆ m_externalProj3DBboxInfo

std::vector< std::vector< Proj3DBboxInfo > > ObjectModelProjector::m_externalProj3DBboxInfo

protected

Store projected 3D bounding box info for all frames in the stream.

Definition at line 519 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_groundPlaneHeight

float ObjectModelProjector::m_groundPlaneHeight

protected

Specifies the world-space ground-plane height.

Definition at line 523 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_H_ground

HomographyMatrix ObjectModelProjector::m_H_ground

protected

Ground-plane homography, independent of target height.

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

◆ m_H_ground_inv

HomographyMatrix ObjectModelProjector::m_H_ground_inv

protected

Inverse of ground plane homography.

Definition at line 537 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_H_inv_Pz

Eigen::Vector3d ObjectModelProjector::m_H_inv_Pz

protected

H_ground_inv * P_z_col (precomputed for Sherman-Morrison).

Definition at line 540 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_isInit

bool ObjectModelProjector::m_isInit

protected

Indicates whether the projector has been initialized.

Definition at line 509 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by isInitialized().

◆ m_K

IntrinsicMatrix ObjectModelProjector::m_K

protected

Intrinsic matrix.

Definition at line 527 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_K_inv

IntrinsicMatrix ObjectModelProjector::m_K_inv

protected

Inverse of intrinsic matrix.

Definition at line 528 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_P_z_col

Eigen::Vector3d ObjectModelProjector::m_P_z_col

protected

P[:,2] - projection matrix Z column (height update direction).

Definition at line 539 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_params

NvTrackerParamsObjectModelProjector ObjectModelProjector::m_params

protected

Config params for target management.

Definition at line 516 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getDefaultHomographyMatByClass(), getDefaultModelByClass(), getMinPoseConfidence(), getOutputConvexHull(), getOutputFootLocation(), and setTargetModelForClass().

◆ m_pix2cam_offset

Eigen::Vector2d ObjectModelProjector::m_pix2cam_offset

protected

Shifts corner-origin pixels to the optical center for projectionMatrix_3x4.

Zero when projectionMatrix_3x4_w2p already maps into pixel coordinates.

Definition at line 532 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_ProjMat_World2Cam

CameraMatrix ObjectModelProjector::m_ProjMat_World2Cam

protected

Stores the world-to-camera projection matrix.

Definition at line 524 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_R

RotationMatrix ObjectModelProjector::m_R

protected

Rotation matrix (world to camera).

Definition at line 529 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_r3

Eigen::Vector3d ObjectModelProjector::m_r3

protected

Third row of R^T (for ground plane intersection).

Definition at line 538 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_R_T

RotationMatrix ObjectModelProjector::m_R_T

protected

Transpose of rotation matrix.

Definition at line 530 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_resolvedCameraModelFilepath

std::string ObjectModelProjector::m_resolvedCameraModelFilepath

protected

Resolved camera model filepath for this stream.

Definition at line 515 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_sensorName

std::string ObjectModelProjector::m_sensorName

protected

Sensor name of the corresponding source stream.

Definition at line 511 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getSensorName().

◆ m_srcFrameSize

NvMotDataTypes::Size ObjectModelProjector::m_srcFrameSize

protected

Source video frame size where the bbox info is based on.

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

◆ m_streamInd

uint ObjectModelProjector::m_streamInd

protected

Index of the corresponding source stream.

Definition at line 510 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_t

TranslationMatrix ObjectModelProjector::m_t

protected

Translation vector.

Definition at line 531 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

◆ m_targetClassId

NvMOTClassId ObjectModelProjector::m_targetClassId

protected

Projector's current target model class ID.

Definition at line 521 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getTargetClassId(), isTargetModelValid(), and setTargetModelForClass().

◆ m_targetHomographyMat

TargetHomography ObjectModelProjector::m_targetHomographyMat

protected

Homography matrices for head, waist, and feet planes composed from the projection matrix.

Definition at line 542 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by setTargetHeight(), and setTargetModelForClass().

◆ m_targetModel

Model3DInfo ObjectModelProjector::m_targetModel

protected

Each target's object model can be different in size.

Definition at line 520 of file sources/libs/nvmultiobjecttracker/include/modules/ObjectModelProjector/ObjectModelProjector.hpp.

Referenced by getHeightConfidence(), getTargetHeight(), isTargetModelValid(), setTargetHeight(), and setTargetModelForClass().

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

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


NVIDIA DeepStream SDK API Reference	9.2 Release

NVIDIA DeepStream SDK API Reference

9.2 Release

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ObjectModelProjector() [1/8]

◆ ObjectModelProjector() [2/8]

◆ ObjectModelProjector() [3/8]

◆ ObjectModelProjector() [4/8]

◆ ~ObjectModelProjector() [1/2]

◆ ObjectModelProjector() [5/8]

◆ ObjectModelProjector() [6/8]

◆ ObjectModelProjector() [7/8]

◆ ObjectModelProjector() [8/8]

◆ ~ObjectModelProjector() [2/2]

Member Function Documentation

◆ calculateProjCornersOf3DBboxFromWorldFeet() [1/2]

◆ calculateProjCornersOf3DBboxFromWorldFeet() [2/2]

◆ calculateProjectedCircleFromWorldFeet() [1/2]

◆ calculateProjectedCircleFromWorldFeet() [2/2]

◆ calculateProjectedCylinderFromImgFeet() [1/2]

◆ calculateProjectedCylinderFromImgFeet() [2/2]

◆ calculateProjectedCylinderFromImgHead() [1/2]

◆ calculateProjectedCylinderFromImgHead() [2/2]

◆ calculateProjectedCylinderFromImgWaist() [1/2]

◆ calculateProjectedCylinderFromImgWaist() [2/2]

◆ calculateProjectedCylinderFromWorldFeet() [1/2]

◆ calculateProjectedCylinderFromWorldFeet() [2/2]

◆ computeGroundCovariance() [1/2]

◆ computeGroundCovariance() [2/2]

◆ computeHeightAndWorldFeetFromHeadAndFoot() [1/2]

◆ computeHeightAndWorldFeetFromHeadAndFoot() [2/2]

◆ computeHeightAndWorldFeetFromHeadAndWaist() [1/2]

◆ computeHeightAndWorldFeetFromHeadAndWaist() [2/2]

◆ convertYamlVec2EigenMatrixXd() [1/2]

◆ convertYamlVec2EigenMatrixXd() [2/2]

◆ deriveDataFromCameraProjMatrix() [1/2]

◆ deriveDataFromCameraProjMatrix() [2/2]

◆ getBboxOfProjectedCylinderFromImgFeet() [1/2]

◆ getBboxOfProjectedCylinderFromImgFeet() [2/2]

◆ getBboxOfProjectedCylinderFromImgHead() [1/2]

◆ getBboxOfProjectedCylinderFromImgHead() [2/2]

◆ getBboxOfProjectedCylinderFromImgWaist() [1/2]

◆ getBboxOfProjectedCylinderFromImgWaist() [2/2]

◆ getBboxOfProjectedCylinderFromWorldFeet() [1/2]

◆ getBboxOfProjectedCylinderFromWorldFeet() [2/2]

◆ getCamFeetPtFromCamWaistPt() [1/2]

◆ getCamFeetPtFromCamWaistPt() [2/2]

◆ getCamHeadPtFromCamWaistPt() [1/2]

◆ getCamHeadPtFromCamWaistPt() [2/2]

◆ getCamWaistPtFromCamFeetPt() [1/2]

◆ getCamWaistPtFromCamFeetPt() [2/2]

◆ getCamWaistPtFromCamHeadPt() [1/2]

◆ getCamWaistPtFromCamHeadPt() [2/2]

◆ getDefaultHomographyMatByClass() [1/2]

◆ getDefaultHomographyMatByClass() [2/2]

◆ getDefaultModelByClass() [1/2]

◆ getDefaultModelByClass() [2/2]

◆ getHeightConfidence() [1/2]

◆ getHeightConfidence() [2/2]

◆ getMinPoseConfidence() [1/2]

◆ getMinPoseConfidence() [2/2]

◆ getOutputConvexHull() [1/2]

◆ getOutputConvexHull() [2/2]

◆ getOutputFootLocation() [1/2]

◆ getOutputFootLocation() [2/2]

◆ getProjectedWorldGroundPts() [1/2]

◆ getProjectedWorldGroundPts() [2/2]

◆ getRecoveredObjectModelFromBbox() [1/2]

◆ getRecoveredObjectModelFromBbox() [2/2]

◆ getRecoveredObjectModelFromProj3DBbox() [1/2]

◆ getRecoveredObjectModelFromProj3DBbox() [2/2]

◆ getRecoveredObjectModelWithAdaptiveHeight() [1/2]

◆ getRecoveredObjectModelWithAdaptiveHeight() [2/2]

◆ getSensorName() [1/2]

◆ getSensorName() [2/2]

◆ getTargetClassId() [1/2]

◆ getTargetClassId() [2/2]