|
|
|
|
|
// 单目标对地跟踪流程测试:将TLD从算法中剥离到外部，导致API调用形式调整
|
|
|
|
|
|
// 读取avi视频进行测试
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#include "NeoArithStandardDll.h"
|
|
|
|
|
|
#include "utils.h"
|
|
|
|
|
|
#include <iostream>
|
|
|
|
|
|
#include <memory>
|
|
|
|
|
|
#include <string.h>
|
|
|
|
|
|
#include <algorithm>
|
|
|
|
|
|
#include <thread>
|
|
|
|
|
|
#include "opencv2/opencv.hpp"
|
|
|
|
|
|
|
|
|
|
|
|
using std::cout;
|
|
|
|
|
|
using std::endl;
|
|
|
|
|
|
using std::string;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int main(int argc,char *argv[])
|
|
|
|
|
|
{
|
|
|
|
|
|
cv::VideoCapture capture(argv[1]);
|
|
|
|
|
|
int nWidth = int(capture.get(cv::CAP_PROP_FRAME_WIDTH));
|
|
|
|
|
|
int nHeight = int(capture.get(cv::CAP_PROP_FRAME_HEIGHT));
|
|
|
|
|
|
|
|
|
|
|
|
// 创建算法句柄
|
|
|
|
|
|
ArithHandle pTracker = STD_CreatEOArithHandle();
|
|
|
|
|
|
|
|
|
|
|
|
// 初始化为凝视-对地模式
|
|
|
|
|
|
ARIDLL_EOArithInitWithMode(pTracker,nWidth,nHeight,GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16,
|
|
|
|
|
|
GLB_SYS_MODE::GLB_SYS_STARE,GLB_SCEN_MODE::GLB_SCEN_GROUND);
|
|
|
|
|
|
|
|
|
|
|
|
// 算法输入部分
|
|
|
|
|
|
ARIDLL_INPUTPARA stInputPara = { 0 };
|
|
|
|
|
|
stInputPara.unFrmId++;
|
|
|
|
|
|
stInputPara.stCameraInfo.fPixelSize = 15;
|
|
|
|
|
|
stInputPara.stCameraInfo.nFocus = 300;
|
|
|
|
|
|
|
|
|
|
|
|
// 算法输出部分
|
|
|
|
|
|
ARIDLL_OUTPUT stOutput = { 0 };
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
unsigned char* pY8Data = new unsigned char[nWidth * nHeight];
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 模拟算法执行流程
|
|
|
|
|
|
int nTrackSuc = 0;
|
|
|
|
|
|
cv::Mat frame;
|
|
|
|
|
|
while(1)
|
|
|
|
|
|
{
|
|
|
|
|
|
stInputPara.unFrmId++;
|
|
|
|
|
|
|
|
|
|
|
|
capture.read(frame);
|
|
|
|
|
|
if(frame.empty())
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
// 下发面锁定指令
|
|
|
|
|
|
if (stInputPara.unFrmId == 10)
|
|
|
|
|
|
{
|
|
|
|
|
|
ARIDLL_LockCommand(pTracker, 228*2,279*2,40,25);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
cv::Mat srcGray(nHeight,nWidth,CV_8UC1);
|
|
|
|
|
|
cv::cvtColor(frame,srcGray,cv::COLOR_RGB2GRAY);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for (size_t i = 0; i < nWidth * nHeight; i++)
|
|
|
|
|
|
{
|
|
|
|
|
|
pY8Data[i] = srcGray.data[i];
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 构建图像类型
|
|
|
|
|
|
GD_VIDEO_FRAME_S img = { 0 };
|
|
|
|
|
|
img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8;
|
|
|
|
|
|
img.u32Width = nWidth;
|
|
|
|
|
|
img.u32Height = nHeight;
|
|
|
|
|
|
img.u32Stride[0] = img.u32Width * 1;
|
|
|
|
|
|
img.u64VirAddr[0] = (unsigned char*)pY8Data;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 运行算法主控逻辑API
|
|
|
|
|
|
ARIDLL_RunController(pTracker, img, stInputPara, &stOutput);
|
|
|
|
|
|
|
|
|
|
|
|
auto trackerOut = stOutput.stTrackers[0];
|
|
|
|
|
|
cv::Rect outRect;
|
|
|
|
|
|
outRect.width = MAX(15,(int)trackerOut.nObjW);
|
|
|
|
|
|
outRect.height= MAX(15, (int)trackerOut.nObjH);
|
|
|
|
|
|
outRect.x = (int)trackerOut.nX-outRect.width/2;
|
|
|
|
|
|
outRect.y = (int)trackerOut.nY-outRect.height/2;
|
|
|
|
|
|
//cv::rectangle(srcGray,outRect,cv::Scalar(0,0,255));
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//cv::resize(srcGray,srcGray,cv::Size(nWidth/2,nHeight/2));
|
|
|
|
|
|
|
|
|
|
|
|
//imshow("res",srcGray);
|
|
|
|
|
|
//cv::waitKey(2);
|
|
|
|
|
|
}
|
|
|
|
|
|
delete[] pY8Data;
|
|
|
|
|
|
|
|
|
|
|
|
if(fabs(stOutput.stTrackers[0].nX - 1508) < 20 &&
|
|
|
|
|
|
fabs(stOutput.stTrackers[0].nY - 750) < 20)
|
|
|
|
|
|
{
|
|
|
|
|
|
cout << "pass" << endl;
|
|
|
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
|
|
|
}
|
