Detailed Description

Tracks objects with a CUDA discriminative correlation filter.

Definition at line 150 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Inheritance diagram for VisualTracker:

Collaboration diagram for VisualTracker:

[legend]

Public Member Functions
	VisualTracker (const std::string &configFilePath)
	Construct from a configuration file path. More...

virtual	~VisualTracker ()
	Release CUDA DCF tracker resources. More...

void	initialize (const SourceFrameInfo &frameInfo, const uint maxTargetsToTrack, const uint maxDetectorBboxesPerFrame, const std::shared_ptr< NvTrackedObjectManager > &targetManager) override
	Initialize variables and allocate memories. More...

void	queryParams (NvMOTQuery &paramsQuery)
	Populate the visual tracker's capability query. More...

void	localize (const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta, const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &detectedObjects) override
	Localize tracked targets and evaluate nearby detections across an input batch. More...

void	update (const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta) override
	Update each target's correlation-filter model from an input batch. More...

bool	isInitialized () override
	Report whether tracker initialization completed. More...

const VISUAL_TRACKER_TYPES	getVisualTrackerType () override
	Return the configured visual tracker type. More...

void	updateParams (const YAML::Node &fn)
	Update any Dynamic Params as provided during runtime by the user. More...

	VisualTracker (const std::string &configFilePath)
	Construct from a configuration file path. More...

virtual	~VisualTracker ()
	Release CUDA DCF tracker resources. More...

void	initialize (const SourceFrameInfo &frameInfo, const uint maxTargetsToTrack, const uint maxDetectorBboxesPerFrame, const std::shared_ptr< NvTrackedObjectManager > &targetManager) override
	Initialize variables and allocate memories. More...

void	queryParams (NvMOTQuery &paramsQuery)
	Populate the visual tracker's capability query. More...

void	localize (const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta, const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &detectedObjects) override
	Localize tracked targets and evaluate nearby detections across an input batch. More...

void	update (const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta) override
	Update each target's correlation-filter model from an input batch. More...

bool	isInitialized () override
	Report whether tracker initialization completed. More...

const VISUAL_TRACKER_TYPES	getVisualTrackerType () override
	Return the configured visual tracker type. More...

void	updateParams (const YAML::Node &fn)
	Update any Dynamic Params as provided during runtime by the user. More...

Protected Member Functions
void	checkInputOutput (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Check the input and find the detection interval. More...

void	updateData4Processing (const int lastTrackerInd)
	Adjust processing dimensions after the active tracker count changes. More...

void	allocateCudaMemories ()
	Pre-allocate required cuda memories on GPU. More...

void	makeBatchAndSendFloatMatToDevice (const NvMotDataTypes::RowMajorMatrixXf &srcMat, void devMem, uint batchSize, float workarea_host)
	Duplicate one host matrix into a batched float buffer and copy it to the device. More...

void	updateLocalizationResults (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Update target states from their correlation responses. More...

Eigen::Vector2f	convertSrcImgCoordToCorrRespCoord (const NvMotDataTypes::Rect2f &roi, const Eigen::Vector2f pt_img) const
	Map a source-image point into a tracker's correlation-response coordinates. More...

void	cudaCalculateResponse (float *ftrs)
	Given the Fourier-transformed extracted features and the learned filters, compute the correlation response. More...

void	getDetectorBboxCorrelationResponses (const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &detectedObjects)
	Retrieve each tracker's correlation response at nearby detector bounding boxes. More...

void	cudaFilterUpdate (const float *ftrs)
	Create and update the DCF filter. More...

int	getCufftPlanId (int num_target)
	Select a cuFFT plan large enough for the requested target count. More...

float	getTemplateRescaleRatio (const NvMotDataTypes::Rect2f &roi) const
	Compute the scale that maps a search region to the fixed feature-image size. More...

float *	extractVisualFeatures (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta, const bool isForLocalization)
	Extract a batched visual feature vector for localization or model update. More...

void	checkInputOutput (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Check the input and find the detection interval. More...

void	updateData4Processing (const int lastTrackerInd)
	Adjust processing dimensions after the active tracker count changes. More...

void	allocateCudaMemories ()
	Pre-allocate required cuda memories on GPU. More...

void	makeBatchAndSendFloatMatToDevice (const NvMotDataTypes::RowMajorMatrixXf &srcMat, void devMem, uint batchSize, float workarea_host)
	Duplicate one host matrix into a batched float buffer and copy it to the device. More...

void	updateLocalizationResults (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta)
	Update target states from their correlation responses. More...

Eigen::Vector2f	convertSrcImgCoordToCorrRespCoord (const NvMotDataTypes::Rect2f &roi, const Eigen::Vector2f pt_img) const
	Map a source-image point into a tracker's correlation-response coordinates. More...

void	cudaCalculateResponse (float *ftrs)
	Given the Fourier-transformed extracted features and the learned filters, compute the correlation response. More...

void	getDetectorBboxCorrelationResponses (const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &detectedObjects)
	Retrieve each tracker's correlation response at nearby detector bounding boxes. More...

void	cudaFilterUpdate (const float *ftrs)
	Create and update the DCF filter. More...

int	getCufftPlanId (int num_target)
	Select a cuFFT plan large enough for the requested target count. More...

float	getTemplateRescaleRatio (const NvMotDataTypes::Rect2f &roi) const
	Compute the scale that maps a search region to the fixed feature-image size. More...

float *	extractVisualFeatures (const std::map< NvMOTStreamId, NvMOTFrame * > &inputMeta, const bool isForLocalization)
	Extract a batched visual feature vector for localization or model update. More...

Protected Attributes
bool	m_isInit
	Indicates whether tracker initialization completed. More...

VisualTrackerConfigParams	m_params
	Config params for visual tracker module. More...

VisualTrackerRunTimeParams	m_paramsRt
	Config params for visual tracker module. More...

std::map< NvMOTStreamId, NvMOTFrame * >	m_inputMeta
	Hold the input metadata. More...

std::shared_ptr< NvTrackedObjectManager >	m_targetManager
	Target manager. More...

FeatureExtractor	m_featureExtractor
	Feature extractor that performs bbox cropping, scaling, and compose a feature vec batch. More...

std::map< NvMOTStreamId, std::vector< std::pair< uint, NvMotDataTypes::Rect2f > > >	m_featureRoisInBatch
	Trackers' search regions as ROI for feature extraction. More...

uint	m_cufftPlanSize
	Number of cuFFT plans. More...

cudaStream_t	m_cudaStream
	CUDA stream used for tracker operations. More...

cufftHandle *	m_cufftHandle_C2R_perCh
	Cufft handler for all the batch elements (i.e., (# of elements in single feature mat) * (# of features channels) * (# of trackers)). More...

cufftHandle *	m_cufftHandle_C2R_perObj
	Cufft handler for a smaller subset (i.e., (# of elements in single feature mat) * (# of trackers)). More...

cufftHandle *	m_cufftHandle_R2C_perCh
	Cufft R2C handle for all the batch elements (i.e., (# of elements in single feature mat) * (# of features channels) * (# of trackers)). More...

void *	m_cufftWorkspce
	Cufft workspace memory on device. More...

cufftComplex *	m_ftrs_F
	Extracted features in a batched Fourier-space CUDA buffer. More...

cufftComplex *	m_desiredResp_F
	Desired response in a batched Fourier-space CUDA buffer. More...

cufftComplex *	m_dcfFilter_F
	Learned filter in a batched Fourier-space CUDA buffer. More...

cufftComplex *	m_work_F_1
	First temporary batched complex workspace. More...

cufftComplex *	m_work_F_2
	Second temporary batched complex workspace. More...

float *	m_maskingWindow4Src
	Masking window for input image feature (a Batch CUDA memory buffer). More...

float *	m_maskingWindow4Model
	Masking window for the model for filter learning (a Batch CUDA memory buffer). More...

float *	m_maskingSegWindow4Model
	Masking window for the model for filter learning (a Batch CUDA memory buffer). More...

float *	m_corrResponses_d
	The correlation response maps for targets (a Batch CUDA memory buffer). More...

float *	m_channelWeights
	The adaptive filter weights for the channels on device (a Batch CUDA memory buffer). More...

float *	m_channelWeightSum
	The filter weight sums used for filter weight normalization, but play as a workplace only (a Batch CUDA memory buffer). More...

float *	m_work_I
	A temporary work space for float (a Batch CUDA memory buffer). More...

bool *	m_trackerDoProcessing_h

bool *	m_trackerDoProcessing_d
	True when this tracker is updated for this batch. More...

uint *	m_detectorBboxes_size_h

uint *	m_detectorBboxes_size_d
	The number of detector bbox candidate for each target. More...

uint32_t *	m_trackerAge_h

uint32_t *	m_trackerAge_d
	Tracker age. More...

float2 *	m_targetDisplacement2D_h

float2 *	m_targetDisplacement2D_d
	The target displacement in correlation response (a Batch CUDA memory buffer). More...

detectorBbox_t *	m_detectorBboxes_h

detectorBbox_t *	m_detectorBboxes_d
	The detector bbox center points to be looked up at each tracker's correlation response. More...

float *	m_confidenceAtDetectedPt_h

float *	m_confidenceAtDetectedPt_d
	Tracking confidence at each detector bbox center. More...

float *	m_corrResponseAtDetectedPt_h

float *	m_corrResponseAtDetectedPt_d
	Correlation response at each detector bbox center. More...

float *	m_maxCorrResponse_h

float *	m_maxCorrResponse_d
	The max correlation response for targets (a Batch CUDA memory buffer). More...

float *	m_maxCorrResponse_ma_d

float *	m_maxCorrResponse_ma_h
	The moving average of the max corr resp. More...

float *	m_trackingConfidence_d

float *	m_trackingConfidence_h
	The tracking confidence derived from the instant and the moving average of the max corr resp. More...

float4 *	m_maskSegRois_h

float4 *	m_maskSegRois_d
	Filter ROI to crop segmentation masks. More...

bool *	m_trackerUseMaskSeg_h

bool *	m_trackerUseMaskSeg_d
	True when this tracker is updated for this batch. More...

cudaEvent_t	m_eventStart
	Event start point for GPU timers. More...

cudaEvent_t	m_eventStop
	Event stop point for GPU timers. More...

Constructor & Destructor Documentation

◆ VisualTracker() [1/2]

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

Construct from a configuration file path.

Parameters

[in] configFilePath The path to the configuration file.

◆ ~VisualTracker() [1/2]

virtual VisualTracker::~VisualTracker ( )

virtual

Release CUDA DCF tracker resources.

◆ VisualTracker() [2/2]

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

Construct from a configuration file path.

Parameters

[in] configFilePath The path to the configuration file.

◆ ~VisualTracker() [2/2]

virtual VisualTracker::~VisualTracker ( )

virtual

Release CUDA DCF tracker resources.

Member Function Documentation

◆ allocateCudaMemories() [1/2]

void VisualTracker::allocateCudaMemories ( )

protected

Pre-allocate required cuda memories on GPU.

◆ allocateCudaMemories() [2/2]

void VisualTracker::allocateCudaMemories ( )

protected

Pre-allocate required cuda memories on GPU.

◆ checkInputOutput() [1/2]

void VisualTracker::checkInputOutput ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

protected

Check the input and find the detection interval.

Parameters

[in] inputMeta A batch of input frames.

◆ checkInputOutput() [2/2]

void VisualTracker::checkInputOutput ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

protected

Check the input and find the detection interval.

Parameters

[in] inputMeta A batch of input frames.

◆ convertSrcImgCoordToCorrRespCoord() [1/2]

Eigen::Vector2f VisualTracker::convertSrcImgCoordToCorrRespCoord	(	const NvMotDataTypes::Rect2f &	roi,
		const Eigen::Vector2f	pt_img
	)		const

protected

Map a source-image point into a tracker's correlation-response coordinates.

Parameters

[in]	roi	The source-frame region that defines the relative coordinate system.
[in]	pt_img	The point in source-image coordinates.

Returns: The corresponding point in the tracker's correlation-response matrix.

◆ convertSrcImgCoordToCorrRespCoord() [2/2]

Eigen::Vector2f VisualTracker::convertSrcImgCoordToCorrRespCoord	(	const NvMotDataTypes::Rect2f &	roi,
		const Eigen::Vector2f	pt_img
	)		const

protected

Map a source-image point into a tracker's correlation-response coordinates.

Parameters

[in]	roi	The source-frame region that defines the relative coordinate system.
[in]	pt_img	The point in source-image coordinates.

Returns: The corresponding point in the tracker's correlation-response matrix.

◆ cudaCalculateResponse() [1/2]

void VisualTracker::cudaCalculateResponse ( float * ftrs )

protected

Given the Fourier-transformed extracted features and the learned filters, compute the correlation response.

Parameters

[in] ftrs The device buffer containing the extracted features.

◆ cudaCalculateResponse() [2/2]

void VisualTracker::cudaCalculateResponse ( float * ftrs )

protected

Given the Fourier-transformed extracted features and the learned filters, compute the correlation response.

Parameters

[in] ftrs The device buffer containing the extracted features.

◆ cudaFilterUpdate() [1/2]

void VisualTracker::cudaFilterUpdate ( const float * ftrs )

protected

Create and update the DCF filter.

Parameters

[in] ftrs The image-space feature vector.

◆ cudaFilterUpdate() [2/2]

void VisualTracker::cudaFilterUpdate ( const float * ftrs )

protected

Create and update the DCF filter.

Parameters

[in] ftrs The image-space feature vector.

◆ extractVisualFeatures() [1/2]

float* VisualTracker::extractVisualFeatures	(	const std::map< NvMOTStreamId, NvMOTFrame * > &	inputMeta,
		const bool	isForLocalization
	)

protected

Extract a batched visual feature vector for localization or model update.

Parameters

[in]	inputMeta	A batch of input frames.
[in]	isForLocalization	Whether the operation is for localization rather than model update.

Returns: The device buffer containing the extracted feature vectors.

◆ extractVisualFeatures() [2/2]

float* VisualTracker::extractVisualFeatures	(	const std::map< NvMOTStreamId, NvMOTFrame * > &	inputMeta,
		const bool	isForLocalization
	)

protected

Extract a batched visual feature vector for localization or model update.

Parameters

[in]	inputMeta	A batch of input frames.
[in]	isForLocalization	Whether the operation is for localization rather than model update.

Returns: The device buffer containing the extracted feature vectors.

◆ getCufftPlanId() [1/2]

int VisualTracker::getCufftPlanId ( int num_target )

inlineprotected

Select a cuFFT plan large enough for the requested target count.

Parameters

[in] num_target The number of targets to process.

Returns: The identifier of the selected cuFFT plan.

◆ getCufftPlanId() [2/2]

int VisualTracker::getCufftPlanId ( int num_target )

inlineprotected

Select a cuFFT plan large enough for the requested target count.

Parameters

[in] num_target The number of targets to process.

Returns: The identifier of the selected cuFFT plan.

◆ getDetectorBboxCorrelationResponses() [1/2]

void VisualTracker::getDetectorBboxCorrelationResponses ( const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> & detectedObjects )

protected

Retrieve each tracker's correlation response at nearby detector bounding boxes.

Parameters

[in] detectedObjects The detected objects grouped by video stream.

◆ getDetectorBboxCorrelationResponses() [2/2]

void VisualTracker::getDetectorBboxCorrelationResponses ( const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> & detectedObjects )

protected

Retrieve each tracker's correlation response at nearby detector bounding boxes.

Parameters

[in] detectedObjects The detected objects grouped by video stream.

◆ getTemplateRescaleRatio() [1/2]

float VisualTracker::getTemplateRescaleRatio ( const NvMotDataTypes::Rect2f & roi ) const

protected

Compute the scale that maps a search region to the fixed feature-image size.

Parameters

[in] roi Search region whose area determines the scale.

Returns: Factor that scales the search region to the feature image size.

◆ getTemplateRescaleRatio() [2/2]

float VisualTracker::getTemplateRescaleRatio ( const NvMotDataTypes::Rect2f & roi ) const

protected

Compute the scale that maps a search region to the fixed feature-image size.

Parameters

[in] roi Search region whose area determines the scale.

Returns: Factor that scales the search region to the feature image size.

◆ getVisualTrackerType() [1/2]

const VISUAL_TRACKER_TYPES VisualTracker::getVisualTrackerType ( )

inlineoverridevirtual

Return the configured visual tracker type.

Implements IVisualTracker.

Definition at line 201 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_params, and VisualTrackerConfigParams::m_visualTrackerType.

◆ getVisualTrackerType() [2/2]

const VISUAL_TRACKER_TYPES VisualTracker::getVisualTrackerType ( )

inlineoverridevirtual

Return the configured visual tracker type.

Implements IVisualTracker.

Definition at line 201 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_params, and VisualTrackerConfigParams::m_visualTrackerType.

◆ initialize() [1/2]

void VisualTracker::initialize	(	const SourceFrameInfo &	frameInfo,
		const uint	maxTargetsToTrack,
		const uint	maxDetectorBboxesPerFrame,
		const std::shared_ptr< NvTrackedObjectManager > &	targetManager
	)

overridevirtual

Initialize variables and allocate memories.

Parameters

[in]	frameInfo	Metadata about the source image (e.g., size, color).
[in]	maxTargetsToTrack	The maximum number of targets to track.
[in]	maxDetectorBboxesPerFrame	The maximum number of detector bounding boxes per frame.
[in]	targetManager	The target manager through which all the targets can be accessed.

Implements IVisualTracker.

◆ initialize() [2/2]

void VisualTracker::initialize	(	const SourceFrameInfo &	frameInfo,
		const uint	maxTargetsToTrack,
		const uint	maxDetectorBboxesPerFrame,
		const std::shared_ptr< NvTrackedObjectManager > &	targetManager
	)

overridevirtual

Initialize variables and allocate memories.

Parameters

[in]	frameInfo	Metadata about the source image (e.g., size, color).
[in]	maxTargetsToTrack	The maximum number of targets to track.
[in]	maxDetectorBboxesPerFrame	The maximum number of detector bounding boxes per frame.
[in]	targetManager	The target manager through which all the targets can be accessed.

Implements IVisualTracker.

◆ isInitialized() [1/2]

bool VisualTracker::isInitialized ( )

inlineoverridevirtual

Report whether tracker initialization completed.

Implements IVisualTracker.

Definition at line 198 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_isInit.

◆ isInitialized() [2/2]

bool VisualTracker::isInitialized ( )

inlineoverridevirtual

Report whether tracker initialization completed.

Implements IVisualTracker.

Definition at line 198 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_isInit.

◆ localize() [1/2]

void VisualTracker::localize	(	const std::map< NvMOTStreamId, NvMOTFrame * >	inputMeta,
		const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &	detectedObjects
	)

overridevirtual

Localize tracked targets and evaluate nearby detections across an input batch.

Parameters

[in]	inputMeta	A batch of input frames.
[in]	detectedObjects	The list of newly-detected objects.

Implements IVisualTracker.

◆ localize() [2/2]

void VisualTracker::localize	(	const std::map< NvMOTStreamId, NvMOTFrame * >	inputMeta,
		const std::map< NvMOTStreamId, std::deque< DetectedObjInfo >> &	detectedObjects
	)

overridevirtual

Localize tracked targets and evaluate nearby detections across an input batch.

Parameters

[in]	inputMeta	A batch of input frames.
[in]	detectedObjects	The list of newly-detected objects.

Implements IVisualTracker.

◆ makeBatchAndSendFloatMatToDevice() [1/2]

void VisualTracker::makeBatchAndSendFloatMatToDevice	(	const NvMotDataTypes::RowMajorMatrixXf &	srcMat,
		void *	devMem,
		uint	batchSize,
		float *	workarea_host
	)

protected

Duplicate one host matrix into a batched float buffer and copy it to the device.

Parameters

[in]	srcMat	The source matrix for a single tracker.
[out]	devMem	The device buffer that receives the duplicated matrix.
[in]	batchSize	The number of copies of the source matrix.
[in,out]	workarea_host	The host workspace filled with the duplicated matrix before the device copy.

◆ makeBatchAndSendFloatMatToDevice() [2/2]

void VisualTracker::makeBatchAndSendFloatMatToDevice	(	const NvMotDataTypes::RowMajorMatrixXf &	srcMat,
		void *	devMem,
		uint	batchSize,
		float *	workarea_host
	)

protected

Duplicate one host matrix into a batched float buffer and copy it to the device.

Parameters

[in]	srcMat	The source matrix for a single tracker.
[out]	devMem	The device buffer that receives the duplicated matrix.
[in]	batchSize	The number of copies of the source matrix.
[in,out]	workarea_host	The host workspace filled with the duplicated matrix before the device copy.

◆ queryParams() [1/2]

void VisualTracker::queryParams ( NvMOTQuery & paramsQuery )

virtual

Populate the visual tracker's capability query.

Parameters

[out] paramsQuery The output query parameters.

Implements IVisualTracker.

◆ queryParams() [2/2]

void VisualTracker::queryParams ( NvMOTQuery & paramsQuery )

virtual

Populate the visual tracker's capability query.

Parameters

[out] paramsQuery The output query parameters.

Implements IVisualTracker.

◆ update() [1/2]

void VisualTracker::update ( const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta )

overridevirtual

Update each target's correlation-filter model from an input batch.

Parameters

[in] inputMeta A batch of input frames.

Implements IVisualTracker.

◆ update() [2/2]

void VisualTracker::update ( const std::map< NvMOTStreamId, NvMOTFrame * > inputMeta )

overridevirtual

Update each target's correlation-filter model from an input batch.

Parameters

[in] inputMeta A batch of input frames.

Implements IVisualTracker.

◆ updateData4Processing() [1/2]

void VisualTracker::updateData4Processing ( const int lastTrackerInd )

protected

Adjust processing dimensions after the active tracker count changes.

Parameters

[in] lastTrackerInd The index of the last tracker in the active batch.

◆ updateData4Processing() [2/2]

void VisualTracker::updateData4Processing ( const int lastTrackerInd )

protected

Adjust processing dimensions after the active tracker count changes.

Parameters

[in] lastTrackerInd The index of the last tracker in the active batch.

◆ updateLocalizationResults() [1/2]

void VisualTracker::updateLocalizationResults ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

protected

Update target states from their correlation responses.

Parameters

[in] inputMeta A batch of input frames.

◆ updateLocalizationResults() [2/2]

void VisualTracker::updateLocalizationResults ( const std::map< NvMOTStreamId, NvMOTFrame * > & inputMeta )

protected

Update target states from their correlation responses.

Parameters

[in] inputMeta A batch of input frames.

◆ updateParams() [1/2]

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

inlinevirtual

Update any Dynamic Params as provided during runtime by the user.

Parameters

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

Implements IVisualTracker.

Definition at line 207 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_params, and VisualTrackerConfigParams::read().

◆ updateParams() [2/2]

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

inlinevirtual

Update any Dynamic Params as provided during runtime by the user.

Parameters

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

Implements IVisualTracker.

Definition at line 207 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

References m_params, and VisualTrackerConfigParams::read().

Field Documentation

◆ m_channelWeights

float * VisualTracker::m_channelWeights

protected

The adaptive filter weights for the channels on device (a Batch CUDA memory buffer).

Definition at line 243 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_channelWeightSum

float * VisualTracker::m_channelWeightSum

protected

The filter weight sums used for filter weight normalization, but play as a workplace only (a Batch CUDA memory buffer).

Definition at line 244 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_confidenceAtDetectedPt_d

float * VisualTracker::m_confidenceAtDetectedPt_d

protected

Tracking confidence at each detector bbox center.

Definition at line 253 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_confidenceAtDetectedPt_h

float * VisualTracker::m_confidenceAtDetectedPt_h

protected

Definition at line 253 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_corrResponseAtDetectedPt_d

float * VisualTracker::m_corrResponseAtDetectedPt_d

protected

Correlation response at each detector bbox center.

Definition at line 254 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_corrResponseAtDetectedPt_h

float * VisualTracker::m_corrResponseAtDetectedPt_h

protected

Definition at line 254 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_corrResponses_d

float * VisualTracker::m_corrResponses_d

protected

The correlation response maps for targets (a Batch CUDA memory buffer).

Definition at line 242 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::writeSrcImagePatchesWithCorrResp().

◆ m_cudaStream

cudaStream_t VisualTracker::m_cudaStream

protected

CUDA stream used for tracker operations.

Definition at line 225 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_cufftHandle_C2R_perCh

cufftHandle * VisualTracker::m_cufftHandle_C2R_perCh

protected

Cufft handler for all the batch elements (i.e., (# of elements in single feature mat) * (# of features channels) * (# of trackers)).

Definition at line 226 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_cufftHandle_C2R_perObj

cufftHandle * VisualTracker::m_cufftHandle_C2R_perObj

protected

Cufft handler for a smaller subset (i.e., (# of elements in single feature mat) * (# of trackers)).

Definition at line 227 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_cufftHandle_R2C_perCh

cufftHandle * VisualTracker::m_cufftHandle_R2C_perCh

protected

Cufft R2C handle for all the batch elements (i.e., (# of elements in single feature mat) * (# of features channels) * (# of trackers)).

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

◆ m_cufftPlanSize

uint VisualTracker::m_cufftPlanSize

protected

Number of cuFFT plans.

Definition at line 224 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_cufftWorkspce

void * VisualTracker::m_cufftWorkspce

protected

Cufft workspace memory on device.

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

◆ m_dcfFilter_F

cufftComplex * VisualTracker::m_dcfFilter_F

protected

Learned filter in a batched Fourier-space CUDA buffer.

Definition at line 234 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_desiredResp_F

cufftComplex * VisualTracker::m_desiredResp_F

protected

Desired response in a batched Fourier-space CUDA buffer.

Definition at line 233 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_detectorBboxes_d

detectorBbox_t * VisualTracker::m_detectorBboxes_d

protected

The detector bbox center points to be looked up at each tracker's correlation response.

Definition at line 252 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_detectorBboxes_h

detectorBbox_t * VisualTracker::m_detectorBboxes_h

protected

Definition at line 252 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::prepareCorrelationResponseImg().

◆ m_detectorBboxes_size_d

uint * VisualTracker::m_detectorBboxes_size_d

protected

The number of detector bbox candidate for each target.

Definition at line 249 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_detectorBboxes_size_h

uint * VisualTracker::m_detectorBboxes_size_h

protected

Definition at line 249 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::prepareCorrelationResponseImg().

◆ m_eventStart

cudaEvent_t VisualTracker::m_eventStart

protected

Event start point for GPU timers.

Definition at line 260 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_eventStop

cudaEvent_t VisualTracker::m_eventStop

protected

Event stop point for GPU timers.

Definition at line 261 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_featureExtractor

FeatureExtractor VisualTracker::m_featureExtractor

protected

Feature extractor that performs bbox cropping, scaling, and compose a feature vec batch.

Definition at line 218 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::writeSrcImagePatchesWithCorrResp(), and TrackerVizOutput::writeSrcImagePatchesWithMaskFilter().

◆ m_featureRoisInBatch

std::map< NvMOTStreamId, std::vector< std::pair< uint, NvMotDataTypes::Rect2f > > > VisualTracker::m_featureRoisInBatch

protected

Trackers' search regions as ROI for feature extraction.

Supposed to be updated after data association. Maps each videoStreamID to a vector of trackerInd and bbox pairs.

Definition at line 219 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_ftrs_F

cufftComplex * VisualTracker::m_ftrs_F

protected

Extracted features in a batched Fourier-space CUDA buffer.

Definition at line 232 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_inputMeta

std::map< NvMOTStreamId, NvMOTFrame * > VisualTracker::m_inputMeta

protected

Hold the input metadata.

Definition at line 214 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_isInit

bool VisualTracker::m_isInit

protected

Indicates whether tracker initialization completed.

Definition at line 211 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by isInitialized().

◆ m_maskingSegWindow4Model

float * VisualTracker::m_maskingSegWindow4Model

protected

Masking window for the model for filter learning (a Batch CUDA memory buffer).

Definition at line 241 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::writeSrcImagePatchesWithMaskFilter().

◆ m_maskingWindow4Model

float * VisualTracker::m_maskingWindow4Model

protected

Masking window for the model for filter learning (a Batch CUDA memory buffer).

Definition at line 240 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maskingWindow4Src

float * VisualTracker::m_maskingWindow4Src

protected

Masking window for input image feature (a Batch CUDA memory buffer).

Definition at line 239 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maskSegRois_d

float4 * VisualTracker::m_maskSegRois_d

protected

Filter ROI to crop segmentation masks.

Definition at line 258 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maskSegRois_h

float4 * VisualTracker::m_maskSegRois_h

protected

Definition at line 258 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maxCorrResponse_d

float * VisualTracker::m_maxCorrResponse_d

protected

The max correlation response for targets (a Batch CUDA memory buffer).

Definition at line 255 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maxCorrResponse_h

float * VisualTracker::m_maxCorrResponse_h

protected

Definition at line 255 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maxCorrResponse_ma_d

float * VisualTracker::m_maxCorrResponse_ma_d

protected

Definition at line 256 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_maxCorrResponse_ma_h

float * VisualTracker::m_maxCorrResponse_ma_h

protected

The moving average of the max corr resp.

Definition at line 256 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_params

VisualTrackerConfigParams VisualTracker::m_params

protected

Config params for visual tracker module.

Definition at line 212 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by getVisualTrackerType(), updateParams(), TrackerVizOutput::writeSrcImagePatchesWithCorrResp(), and TrackerVizOutput::writeSrcImagePatchesWithMaskFilter().

◆ m_paramsRt

VisualTrackerRunTimeParams VisualTracker::m_paramsRt

protected

Config params for visual tracker module.

Definition at line 213 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::writeBirdsEyeView(), TrackerVizOutput::writeSrcImagePatchesWithCorrResp_perTarget(), and TrackerVizOutput::writeSrcImagePatchesWithMaskFilter_perTarget().

◆ m_targetDisplacement2D_d

float2 * VisualTracker::m_targetDisplacement2D_d

protected

The target displacement in correlation response (a Batch CUDA memory buffer).

Definition at line 251 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_targetDisplacement2D_h

float2 * VisualTracker::m_targetDisplacement2D_h

protected

Definition at line 251 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

Referenced by TrackerVizOutput::prepareCorrelationResponseImg().

◆ m_targetManager

std::shared_ptr< NvTrackedObjectManager > VisualTracker::m_targetManager

protected

Target manager.

Definition at line 215 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerAge_d

uint32_t * VisualTracker::m_trackerAge_d

protected

Tracker age.

Definition at line 250 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerAge_h

uint32_t * VisualTracker::m_trackerAge_h

protected

Definition at line 250 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerDoProcessing_d

bool * VisualTracker::m_trackerDoProcessing_d

protected

True when this tracker is updated for this batch.

Definition at line 248 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerDoProcessing_h

bool * VisualTracker::m_trackerDoProcessing_h

protected

Definition at line 248 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerUseMaskSeg_d

bool * VisualTracker::m_trackerUseMaskSeg_d

protected

True when this tracker is updated for this batch.

Definition at line 259 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackerUseMaskSeg_h

bool * VisualTracker::m_trackerUseMaskSeg_h

protected

Definition at line 259 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackingConfidence_d

float * VisualTracker::m_trackingConfidence_d

protected

Definition at line 257 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_trackingConfidence_h

float * VisualTracker::m_trackingConfidence_h

protected

The tracking confidence derived from the instant and the moving average of the max corr resp.

Definition at line 257 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_work_F_1

cufftComplex * VisualTracker::m_work_F_1

protected

First temporary batched complex workspace.

Definition at line 235 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_work_F_2

cufftComplex * VisualTracker::m_work_F_2

protected

Second temporary batched complex workspace.

Definition at line 236 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

◆ m_work_I

float * VisualTracker::m_work_I

protected

A temporary work space for float (a Batch CUDA memory buffer).

Definition at line 245 of file sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.hpp.

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

sources/libs/nvmultiobjecttracker/include/modules/VisualTracker/VisualTracker.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

◆ VisualTracker() [1/2]

◆ ~VisualTracker() [1/2]

◆ VisualTracker() [2/2]

◆ ~VisualTracker() [2/2]

Member Function Documentation

◆ allocateCudaMemories() [1/2]

◆ allocateCudaMemories() [2/2]

◆ checkInputOutput() [1/2]

◆ checkInputOutput() [2/2]

◆ convertSrcImgCoordToCorrRespCoord() [1/2]

◆ convertSrcImgCoordToCorrRespCoord() [2/2]

◆ cudaCalculateResponse() [1/2]

◆ cudaCalculateResponse() [2/2]

◆ cudaFilterUpdate() [1/2]

◆ cudaFilterUpdate() [2/2]

◆ extractVisualFeatures() [1/2]

◆ extractVisualFeatures() [2/2]

◆ getCufftPlanId() [1/2]

◆ getCufftPlanId() [2/2]

◆ getDetectorBboxCorrelationResponses() [1/2]

◆ getDetectorBboxCorrelationResponses() [2/2]

◆ getTemplateRescaleRatio() [1/2]

◆ getTemplateRescaleRatio() [2/2]

◆ getVisualTrackerType() [1/2]

◆ getVisualTrackerType() [2/2]

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ isInitialized() [1/2]

◆ isInitialized() [2/2]

◆ localize() [1/2]

◆ localize() [2/2]

◆ makeBatchAndSendFloatMatToDevice() [1/2]

◆ makeBatchAndSendFloatMatToDevice() [2/2]

◆ queryParams() [1/2]

◆ queryParams() [2/2]

◆ update() [1/2]

◆ update() [2/2]

◆ updateData4Processing() [1/2]

◆ updateData4Processing() [2/2]

◆ updateLocalizationResults() [1/2]

◆ updateLocalizationResults() [2/2]

◆ updateParams() [1/2]

◆ updateParams() [2/2]

Field Documentation

◆ m_channelWeights

◆ m_channelWeightSum

◆ m_confidenceAtDetectedPt_d

◆ m_confidenceAtDetectedPt_h

◆ m_corrResponseAtDetectedPt_d

◆ m_corrResponseAtDetectedPt_h

◆ m_corrResponses_d

◆ m_cudaStream

◆ m_cufftHandle_C2R_perCh

◆ m_cufftHandle_C2R_perObj

◆ m_cufftHandle_R2C_perCh

◆ m_cufftPlanSize

◆ m_cufftWorkspce

◆ m_dcfFilter_F

◆ m_desiredResp_F

◆ m_detectorBboxes_d

◆ m_detectorBboxes_h

◆ m_detectorBboxes_size_d

◆ m_detectorBboxes_size_h

◆ m_eventStart

◆ m_eventStop

◆ m_featureExtractor

◆ m_featureRoisInBatch

◆ m_ftrs_F

◆ m_inputMeta

◆ m_isInit

◆ m_maskingSegWindow4Model

◆ m_maskingWindow4Model

◆ m_maskingWindow4Src