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

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#ifndef NVMULTIOBJECTTRACKERBASE_HPP_
#define NVMULTIOBJECTTRACKERBASE_HPP_
 
#include <vector>
#include <unordered_map>
#include <map>
#include <set>
#include <deque>
#include <random>
#include <limits>
#ifndef _WIN32
#include <sys/syscall.h>
#endif
 
#include "nvdstracker.h"
#include "nvds_tracker_meta.h"
 
#include "modules/utility/debug_common.hpp"
#include "modules/DataAssociator/DataAssociator_factory.hpp"
#include "modules/VisualTracker/VisualTracker_factory.hpp"
#include "modules/ReID/ReID_factory.hpp"
#include "modules/Segmenter/Segmenter_factory.hpp"
#include "modules/ReIDService/ReIDService_factory.hpp"
#include "modules/PoseEstimator/PoseEstimator_factory.hpp"
#include "modules/NvMultiObjectTracker/NvMultiObjectTracker_common.hpp"
#include "modules/NvMultiObjectTracker/localizer.hpp"
#include "modules/NvMultiObjectTracker/NvTrackerParams.hpp"
#include "modules/NvMultiObjectTracker/NvTrackedObject.hpp"
 
class NvTrackerParamsBase : public NvTrackerParams
{
public:
    NvTrackerParamsBase();
 
    NvTrackerParamsBase(const std::string &configFilePath, const std::string moduleName);
 
    NvTrackerParamsBase(const YAML::Node &fn);
 
    void read(const YAML::Node &fn) override;
 
    // [General]
    int m_debugVerboseLevel; 
    bool m_isInit = false; 
 
    // [Class match]
    bool m_checkClassMatch; 
 
    // [Target candidacy]
    float m_minDetectorConfidence; 
 
    // [Frame ID]
    bool m_useBatchNumForFrameId; 
};
 
class NvMultiObjectTrackerBase : public IBatchLocalizer
{
public:
    NvMultiObjectTrackerBase(const std::string &configFilePath);
 
    ~NvMultiObjectTrackerBase();
 
    bool isInitialized() { return m_isInit; }
 
    virtual void initialize(const NvMotDataTypes::Size srcImgSize, const size_t srcImgPitch);
 
    virtual void update(
        const std::map<NvMOTStreamId, NvMOTFrame*> &nvFramesInBatch, NvMOTTrackedObjBatch *&pTrackedObjectsBatch
    );
 
    void queryParams(NvMOTQuery &paramsQuery);
 
    void outputPastFrameObjs(
        const std::set<NvMOTStreamId> videoStreamIdList, NvDsTargetMiscDataBatch *&pPastFrameObjBatch
    );
 
    void outputTerminatedObjs(
        const std::set<NvMOTStreamId> videoStreamIdList, NvDsTargetMiscDataBatch *&pPastFrameObjBatch
    );
 
    void outputShadowObj(const std::set<NvMOTStreamId> videoStreamIdList, NvDsTargetMiscDataBatch *&pShadowTracksBatch);
 
    void deleteRemovedStreamTrackers(const NvMOTStreamId videoStreamID);
 
    void updateParams(const std::string &configStr);
 
    NvBufSurfaceColorFormat getColorFormatType() const { return m_frameInfo.colorFormat; }
 
    void setColorFormatType(const NvBufSurfaceColorFormat colorFormat) { m_frameInfo.colorFormat = colorFormat; }
 
    uint32_t getMaxStreams() const { return m_frameInfo.maxStreams; }
 
    void setMaxStreams(const uint32_t maxStreams) { m_frameInfo.maxStreams = maxStreams; }
 
    void setMaxBufSurfAddrSize(const uint32_t maxBufSurfAddrSize)
    {
        m_frameInfo.maxBufSurfAddrSize = maxBufSurfAddrSize;
    }
 
protected:
 
    // [Config params set by parsing the config file or by deriving from it]
    NvTrackerParamsBase m_paramsBase; 
    const std::string m_configFilePath; 
 
    // [Info about the source frame batch]
    SourceFrameInfo m_frameInfo; 
    std::map<NvMOTStreamId, NvMOTFrame *> m_inputMeta; 
    std::map<NvMOTStreamId, std::deque<DetectedObjInfo>> m_detectedObjects; 
 
    // [Target management module (including the state estimator for each target)]
    std::shared_ptr<NvTrackedObjectManager> m_targets; 
 
    // [Data association module]
    std::shared_ptr<IDataAssociator> m_dataAssociator; 
 
    // [Visual tracker module]
    std::shared_ptr<IVisualTracker> m_visualTracker; 
 
    // [ReID module]
    std::shared_ptr<IReID> m_reid; 
 
    // [Segmenter module]
    std::shared_ptr<ISegmenter> m_segmenter; 
 
    // [Pose estimator module]
    std::shared_ptr<IPoseEstimator> m_poseEstimator; 
 
    // [Re-ID service module]
    std::shared_ptr<IReIDService> m_reidService; 
 
    // [Camera model module]
    std::map<const NvMOTStreamId, std::shared_ptr<ObjectModelProjector>> m_objModelProjectors; 
 
    // [Multi-threaded producer-consumer for stream specific tasks]
    std::shared_ptr<NvTrackerMultiThreadWorker<assocDataIn_t>> m_threadWorker; 
    bool m_isInit; 
    bool m_isInitSubModules; 
    REID4REASSOC_STATE m_reid4ReAssocState; 
 
    void initializeSubModules();
 
    void addStreamSubModulesRuntime();
 
    bool checkInputOutput(
        const std::map<NvMOTStreamId, NvMOTFrame*> &nvFramesInBatch, NvMOTTrackedObjBatch *&pTrackedObjectsBatch
    );
 
    void parseInputMetadata();
 
    void recoverFullBbox();
 
    void performDataAssociationAndUpdate();
 
    void performDataAssociationAndUpdatePerStream(assocDataIn_t in);
 
    void setOutputData(NvMOTTrackedObjBatch *&pTrackedObjectsBatch);
 
    void wrapUpProcessingFrameBatch();
 
    friend class NvTrackedObject;
};
 
#endif // NVMULTIOBJECTTRACKERBASE_HPP_