Introduction

Implements Tracker processing functionality.

Data Structures
struct	DPU_TrackerProc_StaticConfig
	TrackerProc static configuration. More...

struct	DPU_TrackerProc_HW_Resources
	TrackerProc DPU Hardware resources. More...

struct	DPU_TrackerProc_Config
	Tracking configuration. More...

struct	trackerProc_Target
	Structure holds the target features. More...

struct	trackerProc_TargetDescrHandle

struct	DPU_TrackerProc_OutParams
	TrackerProc output parameter structure. More...

struct	trackerProc_Point
	Structure holds the message body for the Point Cloud. More...

struct	trackerProcObjType
	TrackerProc DPU Object. More...

Macros
#define	DPU_TRACKERPROC_POINT_CLOUD_CARTESIAN_BYTE_ALIGNMENT DPIF_POINT_CLOUD_CARTESIAN_CPU_BYTE_ALIGNMENT
	Alignment for memory allocation purpose. There is CPU access of this buffer in the implementation. More...

#define	DPU_TRACKERPROC_POINT_CLOUD_SIDE_INFO_BYTE_ALIGNMENT DPIF_POINT_CLOUD_SIDE_INFO_CPU_BYTE_ALIGNMENT
	Alignment for memory allocation purpose. There is CPU access of this buffer in the implementation. More...

#define	DPU_TRACKERPROC_MAX_NUM_TRACKS TRACKER_MAX_NUM_TR
	Maximum number of tracks. More...

#define	DP_ERRNO_TRACKER_PROC_BASE (MMWAVE_ERRNO_DPU_BASE -900)

#define	DPU_TRACKERPROC_EINVAL (DP_ERRNO_TRACKER_PROC_BASE-1)
	Error Code: Invalid argument. More...

#define	DPU_TRACKERPROC_ENOMEM (DP_ERRNO_TRACKER_PROC_BASE-2)
	Error Code: Out of memory. More...

#define	DPU_TRACKERPROC_EINTERNAL (DP_ERRNO_TRACKER_PROC_BASE-3)
	Error Code: Internal error. More...

#define	DPU_TRACKERPROC_ENOTIMPL (DP_ERRNO_TRACKER_PROC_BASE-4)
	Error Code: Not implemented. More...

#define	DPU_TRACKERPROC_EINPROGRESS (DP_ERRNO_TRACKER_PROC_BASE-5)
	Error Code: In Progress. More...

#define	DPU_TRACKERPROC_ECMD (DP_ERRNO_TRACKER_PROC_BASE-6)
	Error Code: Invalid control command. More...

#define	DPU_TRACKERPROC_EMAX_NUM_TRACKS_EXCEEDED (DP_ERRNO_TRACKER_PROC_BASE-7)
	Error Code: Maximum number of tracks exceeded. More...

#define	TRACKERPROC_OUTPUT_TARGET_LIST 7

#define	TRACKERPROC_OUTPUT_TARGET_INDEX 8

#define	TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS 3

Typedefs
typedef uint8_t	trackerProc_TargetIndex

typedef void *	DPU_TrackerProc_Handle
	TrackerProc DPU Handle. More...

Enumerations
enum	DPU_TrackerProc_Cmd { DPU_TrackerProc_Cmd_sensorTiltCfg }
	TrackerProc control command. More...

Functions
DPU_TrackerProc_Handle	DPU_TrackerProc_init (int32_t *errCode)

int32_t	DPU_TrackerProc_config (DPU_TrackerProc_Handle handle, DPU_TrackerProc_Config *pConfigIn)

int32_t	DPU_TrackerProc_process (DPU_TrackerProc_Handle handle, uint32_t numObjsIn, DPIF_PointCloudCartesianExt cfarDetObjList, DPU_TrackerProc_OutParams outParams)

int32_t	DPU_TrackerProc_control (DPU_TrackerProc_Handle handle, DPU_TrackerProc_Cmd cmd, void *arg, uint32_t argSize)

int32_t	DPU_TrackerProc_deinit (DPU_TrackerProc_Handle handle)

int32_t	DPU_TrackerProc_CartesianToSpherical (uint16_t numPoints, DPIF_PointCloudCartesianExt objCartExtIn, trackerProc_Point detObjSphericalOut)

Macro Definition Documentation

◆ DPU_TRACKERPROC_POINT_CLOUD_CARTESIAN_BYTE_ALIGNMENT

#define DPU_TRACKERPROC_POINT_CLOUD_CARTESIAN_BYTE_ALIGNMENT DPIF_POINT_CLOUD_CARTESIAN_CPU_BYTE_ALIGNMENT

Alignment for memory allocation purpose. There is CPU access of this buffer in the implementation.

◆ DPU_TRACKERPROC_POINT_CLOUD_SIDE_INFO_BYTE_ALIGNMENT

#define DPU_TRACKERPROC_POINT_CLOUD_SIDE_INFO_BYTE_ALIGNMENT DPIF_POINT_CLOUD_SIDE_INFO_CPU_BYTE_ALIGNMENT

Alignment for memory allocation purpose. There is CPU access of this buffer in the implementation.

◆ DPU_TRACKERPROC_MAX_NUM_TRACKS

#define DPU_TRACKERPROC_MAX_NUM_TRACKS TRACKER_MAX_NUM_TR

Maximum number of tracks.

◆ DP_ERRNO_TRACKER_PROC_BASE

#define DP_ERRNO_TRACKER_PROC_BASE (MMWAVE_ERRNO_DPU_BASE -900)

◆ TRACKERPROC_OUTPUT_TARGET_LIST

#define TRACKERPROC_OUTPUT_TARGET_LIST 7

◆ TRACKERPROC_OUTPUT_TARGET_INDEX

#define TRACKERPROC_OUTPUT_TARGET_INDEX 8

◆ TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS

#define TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS 3

Typedef Documentation

◆ trackerProc_TargetIndex

typedef uint8_t trackerProc_TargetIndex

◆ DPU_TrackerProc_Handle

typedef void* DPU_TrackerProc_Handle

TrackerProc DPU Handle.

Enumeration Type Documentation

◆ DPU_TrackerProc_Cmd

enum DPU_TrackerProc_Cmd

TrackerProc control command.

The enum defines the TrackerProc supported run time command

Enumerator
DPU_TrackerProc_Cmd_sensorTiltCfg	Command to update configuration.

Function Documentation

◆ DPU_TrackerProc_init()

DPU_TrackerProc_Handle DPU_TrackerProc_init ( int32_t * errCode )

Description
The function is TrackerProc DPU init function. It allocates memory to store its internal data object and returns a handle if it executes successfully.

Parameters

[in] errCode Pointer to errCode generates from the API

Return values

Success	- valid TrackerProc handle
Error	- NULL

◆ DPU_TrackerProc_config()

int32_t DPU_TrackerProc_config	(	DPU_TrackerProc_Handle	handle,
		DPU_TrackerProc_Config *	pConfigIn
	)

Description
The function is trackerProc DPU config function.

Precondition: DPU_TrackerProc_init() has been called

Parameters

[in]	handle	trackerProc DPU handle
[in]	pConfigIn	Pointer to trackerProc configuration data structure

Return values

Success	- 0
Error	- <0

◆ DPU_TrackerProc_process()

int32_t DPU_TrackerProc_process	(	DPU_TrackerProc_Handle	handle,
		uint32_t	numObjsIn,
		DPIF_PointCloudCartesianExt *	cfarDetObjList,
		DPU_TrackerProc_OutParams *	outParams
	)

Description
The function is trackerProc DPU process function.

Precondition: DPU_trackerProc_init() has been called

Parameters

[in]	handle	trackerProc DPU handle
[in]	numObjsIn	number of input points
[in]	cfarDetObjList	input point cloud in Cartesian format
[out]	outParams	DPU output parameters

Return values

Success	- 0
Error	- <0

◆ DPU_TrackerProc_control()

int32_t DPU_TrackerProc_control	(	DPU_TrackerProc_Handle	handle,
		DPU_TrackerProc_Cmd	cmd,
		void *	arg,
		uint32_t	argSize
	)

Description
The function is the TrackerProc DPU control function.

Precondition: DPU_TrackerProc_init() has been called

Parameters

[in]	handle	TrackerProc DPU handle
[in]	cmd	TrackerProc DPU control command
[in]	arg	TrackerProc DPU control argument pointer
[in]	argSize	TrackerProc DPU control argument size

Return values

Success	- 0
Error	- <0

◆ DPU_TrackerProc_deinit()

int32_t DPU_TrackerProc_deinit ( DPU_TrackerProc_Handle handle )

Description
The function is the TrackerProc DPU deinit function. It frees up the resources allocated during init.

Precondition: DPU_TrackerProc_init() has been called

Parameters

[in] handle TrackerProc DPU handle

Return values

Success	- 0
Error	- <0

◆ DPU_TrackerProc_CartesianToSpherical()

int32_t DPU_TrackerProc_CartesianToSpherical	(	uint16_t	numPoints,
		DPIF_PointCloudCartesianExt *	objCartExtIn,
		trackerProc_Point *	detObjSphericalOut
	)

Description
Utility function to convert Cartesian point cloud to Spherical.

Precondition: None

Parameters

[in]	numPoints	Number of input points
[in]	objCartExtIn	Input point cloud in Cartesian format
[out]	detObjSphericalOut	Output point cloud in spherical format

Return values

Success	- 0
Error	- <0

Introduction

Data Structures

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ DPU_TRACKERPROC_POINT_CLOUD_CARTESIAN_BYTE_ALIGNMENT

◆ DPU_TRACKERPROC_POINT_CLOUD_SIDE_INFO_BYTE_ALIGNMENT

◆ DPU_TRACKERPROC_MAX_NUM_TRACKS

◆ DP_ERRNO_TRACKER_PROC_BASE

◆ TRACKERPROC_OUTPUT_TARGET_LIST

◆ TRACKERPROC_OUTPUT_TARGET_INDEX

◆ TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS

Typedef Documentation

◆ trackerProc_TargetIndex

◆ DPU_TrackerProc_Handle

Enumeration Type Documentation

◆ DPU_TrackerProc_Cmd

Function Documentation

◆ DPU_TrackerProc_init()

◆ DPU_TrackerProc_config()

◆ DPU_TrackerProc_process()

◆ DPU_TrackerProc_control()

◆ DPU_TrackerProc_deinit()

◆ DPU_TrackerProc_CartesianToSpherical()