sources/libs/nvmultiobjecttracker/include/modules/ReID/ReIDFeatureGallery.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 REIDLIB_REIDFEATUREGALLERY_HPP_
#define REIDLIB_REIDFEATUREGALLERY_HPP_
 
#include <map>
#include <deque>
#include <vector>
#include "modules/utility/cuda_common.hpp"
#include "modules/NvMultiObjectTracker/NvMultiObjectTracker_common.hpp"
 
class ReIDFeatureGallery
{
public:
    ReIDFeatureGallery();
 
    ~ReIDFeatureGallery();
 
    void initialize(
        const int reidFeatureSize, const int reidHistorySize, const uint32_t maxStreams,
        const int maxTargetsPerStream, const int debugVerboseLevel
    );
 
    int getReidFeatureIndGlobal(const NvMOTStreamId videoStreamId, uint targetInd);
 
    int getReidFeatureOffset(const NvMOTStreamId videoStreamId) const
    {
        auto it = m_reidFeatureOffsets.find(videoStreamId);
        return (it == m_reidFeatureOffsets.end()) ? -1 : it->second;
    }
 
    void remove(const NvMOTStreamId videoStreamId, const std::vector<int>& reidFeatureInds);
 
    void removeStream(const NvMOTStreamId videoStreamId);
 
    bool updateReIDFeature(
        const NvMOTStreamId videoStreamId, const DetectedObjInfo *detObj, const std::shared_ptr<NvTrackedObject> target
    );
 
    void removeStreamReIDFeature(const NvMOTStreamId videoStreamId);
 
    void removeTrackerReIDFeature(const NvMOTStreamId videoStreamId, const std::shared_ptr<NvTrackedObject> target);
 
    void fuseReidFeatureInd(const NvMOTStreamId videoStreamId, uint targetIndKept, uint targetIndFused);
 
    const int getLastInd(const NvMOTStreamId streamId) const;
 
    const float* getReIDFeaturePtrs(const NvMOTStreamId streamId) const;
 
    float* getFirstReIDFeaturePtrs() { return m_reidFeatureGallery_d; }
 
    const int getReIDHistorySize() const { return m_reidHistorySize; }
 
    const std::vector<int>& getTargetReIDFeatureInds(uint targetInd) const \
    {
        return m_reidFeatureIndsTargets.at(targetInd);
    }
 
    const int getTargetReIDFeatureNextInd(uint targetInd) const \
    {
        return m_reidFeatureNextIndTargets.at(targetInd);
    }
 
    void resetTargetReIDFeatureInds(uint targetInd)
    {
        m_reidFeatureIndsTargets.at(targetInd).clear();
        m_reidFeatureNextIndTargets[targetInd] = 0;
    }
 
    void updateTargetReIDFeatureInd(uint targetInd, int featureInd)
    {
        if ( int(m_reidFeatureIndsTargets.at(targetInd).size()) < m_reidHistorySize )
            m_reidFeatureIndsTargets.at(targetInd).push_back(featureInd);
        else
            m_reidFeatureIndsTargets.at(targetInd)[m_reidFeatureNextIndTargets.at(targetInd)] = featureInd;
 
        m_reidFeatureNextIndTargets[targetInd] = (m_reidFeatureNextIndTargets[targetInd] + 1) % m_reidHistorySize;
    }
 
    void printFeatureInds(uint targetInd) const
    {
        for (auto featureInd : m_reidFeatureIndsTargets.at(targetInd))
        {
            std::cout << featureInd << ", ";
        }
    }
 
    #ifdef VIZ_DEBUG
 
        void dumpReIDFeatureGallery(std::string filename);
    #endif
 
protected:
    int m_debugVerboseLevel; 
    int m_maxTargetsPerStream; 
    int m_reidHistorySize; 
    int m_reidFeatureSize; 
    std::map<NvMOTStreamId, int> m_reidFeatureOffsets; 
    std::deque<int> m_reidFeatureOffsetsInPool; 
    std::map<NvMOTStreamId, std::set<int>> m_reidFeatureIndsInPool; 
    std::map<NvMOTStreamId, int> m_lastInds; 
    std::map<uint, std::vector<int>> m_reidFeatureIndsTargets; 
    std::map<uint, uint> m_reidFeatureNextIndTargets; 
    float* m_reidFeatureGallery_d, *m_reidFeatureGallery_h; 
    cudaStream_t m_cuStream; 
    bool m_isInit; 
};
 
#endif // REIDLIB_REIDFEATUREGALLERY_HPP_