NVIDIA DeepStream SDK API Reference
9.2 Release
Typedefs | Functions | Variables
sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h File Reference

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Typedefs

using json = nlohmann::json
 
using Matrix4f = Eigen::Matrix< float, 4, 4 >
 
using Matrix3f = Eigen::Matrix< float, 3, 3 >
 
using Matrix4d = Eigen::Matrix< double, 4, 4 >
 
using Matrix3d = Eigen::Matrix< double, 3, 3 >
 
using Vector3d = Eigen::Matrix< double, 3, 1 >
 
using Vector3f = Eigen::Vector3f
 
using MatrixXd = Eigen::MatrixXd
 
using AugConfig = std::map< std::string, std::variant< float, std::vector< int >, bool > >
 

Functions

template<typename Derived >
json eigenMatrixToJson (const Eigen::MatrixBase< Derived > &matrix)
 
std::vector< int > extractNumbers (const std::string &text)
 
std::string getCamNameFromString (const std::string &str, int numIndex=-1)
 
json loadCalibBEVFormerScene (const std::string &calibFilePath)
 
json loadCalibSyntheticJson (const std::string &calibFilePath, bool recentering=false)
 
std::pair< std::string, std::map< std::string, std::vector< float > > > loadGroup (const json &groupDict, const std::string &key)
 
std::pair< std::map< std::string, json >, std::map< std::string, json > > loadCalibSyntheticCameraGroupsJson (const std::string &calibFilePath, bool recentering=false)
 
std::pair< json, json > loadCalib (const std::string &calibFilePath, const std::string &calibMode="synthetic", bool useCameraGroups=true, bool recentering=false)
 
void normalizeMatrix (Matrix4d &matrix)
 
json fillCameraInfos (const std::string &calibFilePath, const std::string &bevGroupName, const std::string &calibMode="synthetic", bool useCameraGroups=true, bool recentering=false)
 
std::vector< Matrix4f > getCameraCalibrationMatrix (const json &info)
 
std::tuple< std::vector< Matrix4f >, std::vector< std::string >, std::vector< float > > parseCalibFile (const std::string &calibFilePath, const std::string &bevGroupName, const std::string &calibMode="synthetic", bool useCameraGroups=true, bool recentering=false)
 
std::pair< float, std::vector< float > > fetchSceneMapInfo (const std::string &calibFilePath)
 
std::vector< std::vector< float > > getObjectVelocity (const std::vector< std::vector< float >> &locations, const std::vector< int > &instanceIds, const json &annotationsPrev)
 
std::vector< json > fillCameraInfosGT (const std::string &calibFilePath, const std::string &bevGroupName, const std::string &groundTruthFilePath, const std::string &sceneName, const std::vector< std::string > &classNames, int startFrame=0, int frames=1000)
 
std::vector< Matrix4f > transformLidarInfo (const std::vector< Matrix4f > &lidar2img, AugConfig &augConfigs, int height=1080, int width=1920)
 

Variables

const float FPS = 30.0
 

Typedef Documentation

◆ AugConfig

using AugConfig = std::map<std::string, std::variant<float, std::vector<int>, bool> >

Definition at line 43 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ json

using json = nlohmann::json

Definition at line 32 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Matrix3d

using Matrix3d = Eigen::Matrix<double, 3, 3>

Definition at line 39 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Matrix3f

using Matrix3f = Eigen::Matrix<float, 3, 3>

Definition at line 37 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Matrix4d

using Matrix4d = Eigen::Matrix<double, 4, 4>

Definition at line 38 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Matrix4f

using Matrix4f = Eigen::Matrix<float, 4, 4>

Definition at line 36 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ MatrixXd

using MatrixXd = Eigen::MatrixXd

Definition at line 42 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Vector3d

using Vector3d = Eigen::Matrix<double, 3, 1>

Definition at line 40 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

◆ Vector3f

using Vector3f = Eigen::Vector3f

Definition at line 41 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.

Function Documentation

◆ eigenMatrixToJson()

template<typename Derived >
json eigenMatrixToJson ( const Eigen::MatrixBase< Derived > &  matrix)

◆ extractNumbers()

std::vector<int> extractNumbers ( const std::string &  text)

◆ fetchSceneMapInfo()

std::pair<float, std::vector<float> > fetchSceneMapInfo ( const std::string &  calibFilePath)

◆ fillCameraInfos()

json fillCameraInfos ( const std::string &  calibFilePath,
const std::string &  bevGroupName,
const std::string &  calibMode = "synthetic",
bool  useCameraGroups = true,
bool  recentering = false 
)

◆ fillCameraInfosGT()

std::vector<json> fillCameraInfosGT ( const std::string &  calibFilePath,
const std::string &  bevGroupName,
const std::string &  groundTruthFilePath,
const std::string &  sceneName,
const std::vector< std::string > &  classNames,
int  startFrame = 0,
int  frames = 1000 
)

◆ getCameraCalibrationMatrix()

std::vector<Matrix4f> getCameraCalibrationMatrix ( const json &  info)

◆ getCamNameFromString()

std::string getCamNameFromString ( const std::string &  str,
int  numIndex = -1 
)

◆ getObjectVelocity()

std::vector<std::vector<float> > getObjectVelocity ( const std::vector< std::vector< float >> &  locations,
const std::vector< int > &  instanceIds,
const json &  annotationsPrev 
)

◆ loadCalib()

std::pair<json, json> loadCalib ( const std::string &  calibFilePath,
const std::string &  calibMode = "synthetic",
bool  useCameraGroups = true,
bool  recentering = false 
)

◆ loadCalibBEVFormerScene()

json loadCalibBEVFormerScene ( const std::string &  calibFilePath)

◆ loadCalibSyntheticCameraGroupsJson()

std::pair<std::map<std::string, json>, std::map<std::string, json> > loadCalibSyntheticCameraGroupsJson ( const std::string &  calibFilePath,
bool  recentering = false 
)

◆ loadCalibSyntheticJson()

json loadCalibSyntheticJson ( const std::string &  calibFilePath,
bool  recentering = false 
)

◆ loadGroup()

std::pair<std::string, std::map<std::string, std::vector<float> > > loadGroup ( const json &  groupDict,
const std::string &  key 
)

◆ normalizeMatrix()

void normalizeMatrix ( Matrix4d &  matrix)

◆ parseCalibFile()

std::tuple<std::vector<Matrix4f>, std::vector<std::string>, std::vector<float> > parseCalibFile ( const std::string &  calibFilePath,
const std::string &  bevGroupName,
const std::string &  calibMode = "synthetic",
bool  useCameraGroups = true,
bool  recentering = false 
)

◆ transformLidarInfo()

std::vector<Matrix4f> transformLidarInfo ( const std::vector< Matrix4f > &  lidar2img,
AugConfig &  augConfigs,
int  height = 1080,
int  width = 1920 
)

Variable Documentation

◆ FPS

const float FPS = 30.0

Definition at line 46 of file sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/preprocess/calibration_parser.h.