sources/libs/nvmultiobjecttracker/include/modules/NvMultiObjectTracker/nvdstracker.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2018-2026 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 _NVMOTRACKER_H_
#define _NVMOTRACKER_H_
 
#include <stdint.h>
#include <string>
#include <chrono>
#include <vector>
 
#include "nvbufsurface.h"
#include "nvds_tracker_meta.h"
 
#ifdef __cplusplus
#ifdef _WIN32
using uint = unsigned int;
#endif
extern "C"
{
#endif
 
#define NVMOT_MAX_TRANSFORMS 4
 
typedef uint64_t NvMOTTimeStamp;
typedef uint64_t NvMOTStreamId;
typedef uint32_t NvMOTFrameNum;
typedef uint16_t NvMOTClassId;
typedef NvMOTTimeStamp TimeStamp;
 
static inline TimeStamp NvDsCurrentTimestampNs(void)
{
    return static_cast<TimeStamp>(
        std::chrono::duration_cast<std::chrono::nanoseconds>(
            std::chrono::system_clock::now().time_since_epoch()
        ).count()
    );
}
 
typedef struct _NvMOTTimeMeta
{
    NvMOTFrameNum frameNum; 
    NvMOTTimeStamp frameTimeStamp; 
    TimeStamp localTimestamp; 
    bool frameTimeValid; 
} NvMOTTimeMeta;
 
#define NVMOTCOMP_GPU 0x01 
#define NVMOTCOMP_CPU 0x02 
#define NVMOTCOMP_PVA 0x04 
#define NVMOTCOMP_ANY 0xff 
#define NVMOTCOMP_DEFAULT NVMOTCOMP_ANY 
 
typedef uint8_t NvMOTCompute;
 
typedef struct _NvMOTPerTransformBatchConfig
{
    NvBufSurfaceMemType bufferType; 
    uint32_t maxWidth; 
    uint32_t maxHeight; 
    uint32_t maxPitch; 
    uint32_t maxSize; 
} NvMOTPerTransformBatchConfig;
 
typedef struct _NvMOTMiscConfig
{
    uint32_t gpuId; 
    typedef void (*logMsg) (int logLevel, const char * format, ...); 
} NvMOTMiscConfig;
 
typedef struct _NvMOTConfig
{
    NvMOTCompute computeConfig; 
    uint32_t maxStreams; 
    uint32_t maxBufSurfAddrSize; 
    uint8_t numTransforms; 
    NvMOTPerTransformBatchConfig *perTransformBatchConfig; 
    NvMOTMiscConfig miscConfig; 
    uint16_t customConfigFilePathSize; 
    char* customConfigFilePath; 
} NvMOTConfig;
 
typedef enum
{
    NvMOTConfigStatus_OK, 
    NvMOTConfigStatus_Error, 
    NvMOTConfigStatus_Invalid, 
    NvMOTConfigStatus_Unsupported 
} NvMOTConfigStatus;
 
typedef enum
{
    NvMOTBatchMode_Error = 0, 
    NvMOTBatchMode_Batch = 1 << 0, 
    NvMOTBatchMode_NonBatch = 1 << 1, 
    NvMOTBatchMode_MaxValue = 3 
} NvMOTBatchMode;
 
typedef struct _NvMOTConfigResponse
{
    NvMOTConfigStatus summaryStatus; 
    NvMOTConfigStatus computeStatus; 
    NvMOTConfigStatus transformBatchStatus; 
    NvMOTConfigStatus miscConfigStatus; 
    NvMOTConfigStatus customConfigStatus; 
} NvMOTConfigResponse;
 
typedef enum
{
    NvMOTStatus_OK, 
    NvMOTStatus_Error, 
    NvMOTStatus_Invalid_Path 
} NvMOTStatus;
 
typedef struct _NvMOTRect
{
    float x; 
    float y; 
    float width; 
    float height; 
} NvMOTRect;
 
typedef struct _NvMOTMask
{
    float* data; 
    uint32_t width; 
    uint32_t height; 
    uint32_t allocatedSize; 
} NvMOTMask;
 
typedef struct _NvMOTObjToTrack
{
    NvMOTClassId classId; 
    NvMOTRect bbox; 
    float confidence; 
    bool doTracking; 
    void *pPreservedData; 
} NvMOTObjToTrack;
 
typedef struct _NvMOTObjToTrackList
{
    bool detectionDone; 
    NvMOTObjToTrack* list; 
    uint32_t numAllocated; 
    uint32_t numFilled; 
} NvMOTObjToTrackList;
 
typedef struct _NvMOTFrame
{
    NvMOTStreamId streamID; 
    uint32_t seq_index; 
    NvMOTFrameNum frameNum; 
    NvMOTTimeMeta timeMeta; 
    uint32_t srcFrameWidth; 
    uint32_t srcFrameHeight; 
    bool doTracking; 
    bool reset; 
    uint8_t numBuffers; 
    NvBufSurfaceParams** bufferList; 
    NvMOTObjToTrackList objectsIn; 
    const char* sensorName; 
} NvMOTFrame;
 
typedef struct _NvMOTTrackedObj
{
    NvMOTClassId classId; 
    uint64_t trackingId; 
    NvMOTRect bbox; 
    float confidence; 
    uint32_t age; 
    NvMOTObjToTrack *associatedObjectIn; 
    NvDsObjReid reid; 
    float visibility; 
    float ptImgFeet[2]; 
    float ptWorldFeet[2]; 
    NvDsObjConvexHull convexHull; 
    NvMOTMask mask; 
    NvDsObj3DBbox bbox3DWorld; 
    float bbox3DImg[8][2]; 
    uint8_t reserved[128]; 
} NvMOTTrackedObj;
 
typedef struct _NvMOTTrackedObjList
{
    NvMOTStreamId streamID; 
    NvMOTFrameNum frameNum; 
    bool valid; 
    NvMOTTrackedObj* list; 
    uint32_t numAllocated; 
    uint32_t numFilled; 
} NvMOTTrackedObjList;
 
typedef struct _NvMOTTrackedObjBatch
{
    NvMOTTrackedObjList *list; 
    uint32_t numAllocated; 
    uint32_t numFilled; 
    NvDsReidTensorBatch* pReidTensorBatch; 
} NvMOTTrackedObjBatch;
 
typedef struct _NvMOTTrackerMiscData
{
    NvDsTargetMiscDataBatch *pPastFrameObjBatch; 
    NvDsTargetMiscDataBatch *pTerminatedTrackBatch; 
    NvDsTargetMiscDataBatch *pShadowTrackBatch; 
} NvMOTTrackerMiscData;
 
typedef struct _NvMOTProcessParams
{
    uint32_t numFrames; 
    NvMOTFrame *frameList; 
} NvMOTProcessParams;
 
struct NvMOTContext;
typedef struct NvMOTContext* NvMOTContextHandle;
 
typedef struct _NvMOTQuery
{
    NvMOTCompute computeConfig; 
    uint8_t numTransforms; 
    NvBufSurfaceColorFormat colorFormats[1]; 
    NvBufSurfaceMemType memType; 
    uint32_t maxTargetsPerStream; 
    uint32_t maxShadowTrackingAge; 
    bool outputReidTensor; 
    uint32_t reidFeatureSize; 
    bool outputTrajectory; 
    bool outputVisibility; 
    bool outputFootLocation; 
    bool outputConvexHull; 
    uint32_t maxConvexHullSize; 
    bool supportPastFrame; 
    NvMOTBatchMode batchMode; 
    bool outputTerminatedTracks; 
    uint32_t maxTrajectoryBufferLength; 
    bool outputShadowTracks; 
    NvMOTContextHandle contextHandle; 
} NvMOTQuery;
 
NvMOTStatus NvMOT_Init(
    NvMOTConfig *pConfigIn, NvMOTContextHandle *pContextHandle, NvMOTConfigResponse *pConfigResponse
);
 
void NvMOT_DeInit(NvMOTContextHandle contextHandle);
 
NvMOTStatus NvMOT_Process(
    NvMOTContextHandle contextHandle, NvMOTProcessParams *pParams, NvMOTTrackedObjBatch *pTrackedObjectsBatch
);
 
NvMOTStatus NvMOT_RetrieveMiscData(
    NvMOTContextHandle contextHandle, NvMOTProcessParams *pParams, NvMOTTrackerMiscData *pTrackerMiscData
);
 
NvMOTStatus NvMOT_Query(uint16_t customConfigFilePathSize, char* pCustomConfigFilePath, NvMOTQuery *pQuery);
 
NvMOTStatus NvMOT_RemoveStreams(NvMOTContextHandle contextHandle, NvMOTStreamId streamIdMask);
 
NvMOTStatus NvMOT_UpdateParams(NvMOTContextHandle contextHandle, const std::string &configStr);
 // end of API group
 
#ifdef __cplusplus
}
#endif
 
#endif // _NVMOTRACKER_H_