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#pragma once
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#include "Arith_Common.hpp"
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#include "Arith_TrackSAObj.h"
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#include "KCF/API_KCF_Tracker.h"
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#include "Arith_BkgMonitor.h"
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#include "API_MOT_PipeProc.h"
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#include "SVM/svm.h"
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#include "Matcher/Fast_Matcher.h"
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// 决策行为
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enum Act
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{
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Credit = 1, //采信
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Reset = -1, //重置
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Adjust = 2, //重置位置，不更新跟踪模型
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Remain = 0, //保持，不做处理
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};
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// 决策策略
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struct DecPolicy
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{
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Act Act_SATracker;
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Act Act_KCFTracker;
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};
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//邻居目标特征 + 邻居目标与主跟踪目标的关系结构体,单帧信息
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typedef struct tagFrmAlarmInfo
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{
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BBOOL bLost; //邻居目标当前状态是否在记忆
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UINT32 unFrmId; //当前帧编号
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POINT32F pfCenPos; //区域的中心点坐标
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ANGLE32F afAngle; //目标方位角、俯仰角
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SIZE16S snSize; //目标宽高
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FLOAT32 fRelationIOU; //主跟踪目标上下帧之间的IOU
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DIST32F fCenDisXY; //主跟踪目标的中心点上下帧距离
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}FrmAlarmInfo;
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//邻居目标与主跟踪目标的关系结构体，仅统计观测区域范围内,代表一个周围目标的多帧信息
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typedef struct tagPipeMainAlarmInfo
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{
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BBOOL bOccupy; //表示被占用标记
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UBYTE8 ubEnd; //队列尾(控制角度位置,实时刷新)
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UBYTE8 ubJudgePoint; //判别点，设置判别点间隔进行输出
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UINT16 nCountNum; //实际队列占用，可用于标识队列是否占满
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SINT32 nAlarmBatchID; //管道告警编号
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FrmAlarmInfo frmAlarmInfo[MAIN_ALARM_DEPTH_MAX];//单帧
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}PipeMainAlarmInfo;
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class SkyTracker
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{
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public:
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SkyTracker(SINT32 nWidth, SINT32 nHeight);
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SkyTracker(SINT32 nWidth, SINT32 nHeight, Param_SkyTracker para);
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~SkyTracker();
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// 跟踪参数,可接收外部传入
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Param_SkyTracker mTrakingPara;
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// 跟踪初始化：统一使用管道作为接口
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bool Init(GD_VIDEO_FRAME_S img, PIPE* pLockPipe, GLB_INPUT* g_GLB_Input);
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// 跟踪
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bool Track(GD_VIDEO_FRAME_S img, GLB_INPUT* g_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc, ARIDLL_PARMA* g_stArithPara);
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// 跟踪器解锁
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void Cancle();
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// 强制记忆跟踪
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void SetMemTrack(bool bMemFlag);
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// 设置跟踪参数
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void SetSkyParam(Param_SkyTracker PARA);
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// 获取跟踪参数
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Param_SkyTracker GetSkyParam();
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// 跟踪结果，用于输出
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OBJECTSTATUS ObjStatus;
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// 输出小面目标跟踪波门
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CENTERRECT getSATracker_SrBox();
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// 输出kcf波门
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CENTERRECT getKCFTracker_SrBox();
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// 输出小面目标类型
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SizeType getSATracker_SizeType();
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public:
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// 输出跟踪阶段小面目标列表
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TARGET_OBJECT* getTrackerSATargetList(SINT32& num);
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//返回小目标跟踪极值点
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POINT16S* GetDST_MaxPoint_Sky();
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PIPE* m_LockingPipe;//锁定管道指针，指向PIPE队列锁定目标，初始化赋值
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TARGET_OBJECT mTargetFusion;//跟踪器的输出"目标"，广义的单帧跟踪结果
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// 跟踪融合
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bool TrackDecision(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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// 产生决策
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DecPolicy Decision(GD_VIDEO_FRAME_S img);
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// KCF+CEND决策处理
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DecPolicy TO_TrackDecisionOf_KCF_CEND(GD_VIDEO_FRAME_S img);
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// 决策处理
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bool ApplyDecision(DecPolicy policy, GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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// 自动切换跟踪目标模式,内部自闭环
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void SetTrackModeAuto(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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//小面目标跟踪器（对空）
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SA_Tracker* pSATracker;
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//kcf跟踪器（通用）
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API_KCF_Tracker* pKCFTracker;
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// 背景场景监控（对空）
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BkgMonitor* pBkgMonitor;
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// 模板匹配句柄
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templateMatching::Fast_Matcher* matcher;
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// 强制记忆跟踪标记
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bool m_bSetMemoryTrack;
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//
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SINT32 g_GLB_nTrackDecisionCnt;//决策帧计数
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// 对空跟踪结果和参数输出
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TSky_Output m_TSky_Output;
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private:
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bool bsvmInitDone;//
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PipeMainAlarmInfo* pipeAlarmInfo; // 主跟踪管道对应的信息缓存，用于在告警操作中进行类别确认
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struct svm_model* model;
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struct svm_node* x;
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struct svm_parameter svmParm;
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void RecordAlarmInfo(PIPE* pPipe);
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void AlarmClassVerify(PIPE* pPipe);
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};
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