sources/libs/nvmultiobjecttracker/include/modules/cuDCFv2/cuDCF.h

Go to the documentation of this file.

/*
 * 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 CUDCFLIB_CUDCF_H_
#define CUDCFLIB_CUDCF_H_
 
#include <cuda_runtime.h>
#include <cufft.h>
#include <cufftXt.h>
#include <cuComplex.h>
#include "modules/NvMultiObjectTracker/localizer.hpp"
 
typedef float ftype1;
typedef float2 ftype2;
 
typedef struct
{
    int x, y; 
    uint dBboxInd; 
} detectorBbox_t;
 
namespace cuDCF
{
void getDetectorBboxCorrelationResponses(
    const cudaStream_t &stream, const int num_of_targets, const int maxTargetsPerStream,
    const detectorBbox_t *detectedPts, const uint *detectedPts_size, const int detCorrRespSearchWindowSize,
    const float *corr_responses, const float *maxCorrResponse_ma, const int img_element_size,
    const int img_width, float *confidenceAtDetectedPt, float *corrRespAtDetectedPt
);
 
void applyFilter2D_U16(
    const cudaStream_t &stream, const uint16_t *ftrs, const float *masking_window, const uint srcWidth,
    const uint srcPitch, const uint srcHeight, const uint2 outBatchingGrid, const uint num_of_channels,
    const uint num_of_targets, const bool useColorNames, const uint num_of_colorNames_channels, float *ftrs_masked
);
 
void applyFilter2D_U8(
    const cudaStream_t &stream, const uchar *ftrs, const float *masking_window, const uint srcWidth,
    const uint srcPitch, const uint srcHeight, const uint2 outBatchingGrid, const uint num_of_channels,
    const uint num_of_targets, const bool useColorNames, const uint num_of_colorNames_channels, float *ftrs_masked
);
 
void createDcfFilter(
    const cudaStream_t &stream, const cufftHandle &cufft_handle_C2R, const cufftHandle &cufft_handle_R2C,
    const cuComplex *ftrs_F, const cuComplex *desiredResp_F, const float *masking_window_model, const int img_width,
    const int img_element_size, const int batch_element_size, const float lambda, const int num_of_channels,
    const int num_of_targets, cuComplex *work_F, float *work_I, const uint32_t *tracker_age,
    const bool *trackerDoProcessing_d, const float learn_rate, cuComplex *learned_filter_F, cuComplex *result_filter_F
);
 
void createSegmentationFilterMask(
    const cudaStream_t &stream, const float *src_mask_frame_batch, const int src_frame_width,
    const int src_frame_element_size, const int feat_width, const int feat_element_size,
    const int batch_element_size, const int num_of_targets, const int num_of_channels,
    const float4 *src_rois, const bool *trackerDoProcessing_d, float *dst_mask_patch_batch
);
 
void computeChannelWeights(
    const cudaStream_t &stream, const cufftHandle &cufft_handle_many, const cuComplex *ftrs_F,
    const int img_element_size, const int img_width, const int batch_element_size,
    const int batch_size, const int num_of_channels, const int num_of_targets,
    const cuComplex *new_filter_F, cuComplex *work_F, float *work_I, const uint32_t *tracker_age,
    const bool *trackerDoProcessing_d, const float weights_lr, float *channel_weights, float *weight_sum
);
 
void calcuateExpectedPeakCorrelation(
    const cudaStream_t &stream, const int num_of_channels, const int num_of_targets,
    const float learn_rate, const float *channel_weights, const uint32_t *tracker_age,
    const bool *trackerDoProcessing_d, float *maxCorrResponse_ma
);
 
void calculateResponse(
    const cudaStream_t &stream, const cufftHandle &cufft_handle_many_small, const int img_width,
    const int img_element_size, const int batch_element_size, const int num_of_channels, const int num_of_targets,
    const cuComplex *ftrs_F, const cuComplex *result_filter_F, const float *channel_weights,
    cuComplex *work_F, float *corr_responses, float *maxResp, float2 *targetDisplacement
);
 
void calculateTrackingConfidence(
    const cudaStream_t &stream, const int num_of_targets, const float *maxCorrResponse_ma,
    const float *maxCorrResponse, float *trackingConfidence
);
} // end of namespace cuDCF
 
#endif // CUDCFLIB_CUDCF_H_