S3315_RK3588/NeoTracker/src/Arith_Status_SEARCH.cpp

#include  "Arith_EOController.h"
#include  "Arith_CoordModule.h"
#include "Arith_Tracker.h"

#include <opencv2/opencv.hpp>

//
SINT32 Arith_EOController::Proc_ForceLock(GD_VIDEO_FRAME_S img, GLB_INPUT& g_Input, GLB_PARAMETERS& g_para)
{
    SINT32 nTrackPipeID = -1;
    SINT32 nWidth = img.u32Width;
    SINT32 nHeight = img.u32Height;
    //3s强制提取由外部控制
    // 对空模式可以转压点强制提取
    if (GLB_SCEN_SKY == g_GLB_stPara.nWorkScene)
    {
            TARGET_OBJECT tTargetRe = { 0 };
            SPEED32F sfAglSpeed = { 0 };
            TARGET_OBJECT* Temp_Target_Array = g_GLB_Detectors->GetTargetArray();
            SINT32 Temp_nTargetNum = 0;
            g_GLB_stPara.snLockBoxSize.w = 40;
            g_GLB_stPara.snLockBoxSize.h = 40;
            MINMAXRECT mmCenterRect = { g_GLB_stPara.ptLockPos.x - g_GLB_stPara.snLockBoxSize.w / 2, g_GLB_stPara.ptLockPos.y - g_GLB_stPara.snLockBoxSize.h / 2 ,
                g_GLB_stPara.ptLockPos.x + g_GLB_stPara.snLockBoxSize.w / 2 ,g_GLB_stPara.ptLockPos.y + g_GLB_stPara.snLockBoxSize.h / 2 };
            BBOOL bPipeReObjFound = g_GLB_Detectors->pDST_Module->DST_PipeTargetReDetect(img, nWidth, nHeight,
                                                                                         g_GLB_stPara.ptLockPos, sfAglSpeed,
                                                                                         mmCenterRect,
                                                                                         &tTargetRe, Temp_Target_Array, &Temp_nTargetNum);


            // 还没有检出，执行第三次超级弱小目标检测
            if (!bPipeReObjFound)
            {
                BBOOL bPipeSeObjFound = g_GLB_Detectors->pDST_Module->DST_PipeTargetRReDetect(img, nWidth, nHeight,
                                                                                              g_GLB_stPara.ptLockPos, sfAglSpeed,
                                                                                              mmCenterRect,
                                                                                              &tTargetRe, Temp_Target_Array, &Temp_nTargetNum);
            }
            nTrackPipeID = g_GLB_PipeProc->SO_ForceLock(img,
                                                        g_GLB_stPara.ptLockPos, g_GLB_stPara.snLockBoxSize, Temp_Target_Array, Temp_nTargetNum, g_Input);
    }
    // 对地模式转固定波门框选
    if (GLB_SCEN_GROUND == g_GLB_stPara.nWorkScene)
    {
        nTrackPipeID = g_GLB_PipeProc->SO_RectLock(img,
                                                   g_GLB_stPara.ptLockPos, g_GLB_stPara.snLockBoxSize, g_Input);
    }
    return nTrackPipeID;
}
SINT32 Arith_EOController::Proc_SearchLock(GD_VIDEO_FRAME_S img, GLB_INPUT & g_Input, GLB_PARAMETERS & g_para)
{
    if(g_GLB_stPara.stLockCtrl == LockMode::LOCK_NONE)
    {
        return -1;
    }

    UBYTE8* pSrc = img.u64VirAddr[0];
    SINT32 nWidth = img.u32Width;
    SINT32 nHeight = img.u32Height;

    // 检测队列
    TARGET_OBJECT* pFrameTargetArray = g_GLB_Detectors->GetTargetArray();

    // 管道队列
    PIPE* pPipeArray = g_GLB_PipeProc->getPipeArray();

    SINT32 nTrackPipeID = -1;

        
    // 单目标锁定处理
    switch (g_GLB_stPara.stLockCtrl)
    {
        case LockMode::LOCK_NONE:
            break;
        case LockMode::LOCK_POINT:
            nTrackPipeID = g_GLB_PipeProc->SO_PointLock(img, pPipeArray, g_GLB_stPara.ptLockPos);
            LOG_DEBUG("LOCK_POINT:g_GLB_stPara.ptLockPos:{},{},nTrackPipeID:{}", g_GLB_stPara.ptLockPos.x, g_GLB_stPara.ptLockPos.y, nTrackPipeID);
            if (nTrackPipeID == -1)// 未找到目标不能什么都不做，积极响应用户指令
            {
                nTrackPipeID = Proc_ForceLock(img, g_Input, g_para);
            }
            
            break;
        case LockMode::LOCK_RECT:
            nTrackPipeID = g_GLB_PipeProc->SO_RectLock(img, 
                g_GLB_stPara.ptLockPos, g_GLB_stPara.snLockBoxSize, g_Input);
            break;

        default:
            break;
    }


    // 锁定成功，转入跟踪状态
    if (nTrackPipeID > -1)
    {
        // 记录被锁定管道
        g_GLB_stPara.nLockPipeInd = nTrackPipeID;

        PIPE* pLockPipe = &pPipeArray[nTrackPipeID];

        // 对应的跟踪器初始化跟踪
        // 创建跟踪器对象,使用外部设置的参数模板
        //g_GLB_Trackers[nTrackPipeID] = new Tracker(nWidth, nHeight, g_GLB_stPara.nWorkScene, g_GLB_TKPara_Template);

        if (g_GLB_stPara.nWorkScene == GLB_SCEN_SKY)
        {
            g_GLB_Trackers[nTrackPipeID] = g_pSkyTracker;
        }
        else if (g_GLB_stPara.nWorkScene == GLB_SCEN_GROUND)
        {
            g_GLB_Trackers[nTrackPipeID] = g_pGrdTracker;
        }
        
        // 初始化跟踪器
        g_GLB_Trackers[nTrackPipeID]->Init(img, pLockPipe, &g_GLB_stInput);


        // 管道标记为跟踪
        pLockPipe->bTrackingPipe = true;
        pLockPipe->bTracking = FALSE;//防止后续显示错误
        // 转入跟踪状态
        g_GLB_stPara.stLockCtrl = LOCK_NONE;     //锁定标记复位
        g_GLB_stPara.bEnForceGuide = FALSE;      //强制提取复位
        g_GLB_stPara.nStatusBeforeLock = g_GLB_stPara.nStatus;
        if (TRUE == g_GLB_stPara.bMutiTrack)
        {
            g_GLB_stPara.nStatus = GLB_STATUS_MOTRACK;
        }
        else
        {
            g_GLB_stPara.nStatus = GLB_STATUS_TRACK;
        }
        // 对空跟踪对象创建后，从参数模板进行参数赋值
        if (g_GLB_stPara.nLockPipeInd >= 0 && NULL != g_GLB_Trackers[g_GLB_stPara.nLockPipeInd] &&
            NULL != g_GLB_Trackers[g_GLB_stPara.nLockPipeInd]->pSkyTracker)
        {
            SkyTracker* pSkyTrackerTemp = g_GLB_Trackers[g_GLB_stPara.nLockPipeInd]->pSkyTracker;
            Param_SkyDetect* prmTSkyDet = &g_GLB_TKPara_Template.skyParam.prmTSkyDet;//对空检测器参数
            memcpy(&pSkyTrackerTemp->mTrakingPara.prmTSkyDet, prmTSkyDet, sizeof(Param_SkyDetect));

            DST_PARAMETERS* pDST_stPara = pSkyTrackerTemp->pSATracker->pDST_Module->GetDstParm();
            DAT_PARAMETERS* pDAT_stPara = pSkyTrackerTemp->pSATracker->pDAT_Module->GetDatParm();
            // 将外部下发参数设置到跟踪模块
            // 局部小目标检测器
            pDST_stPara->fgdk = prmTSkyDet->fSmallDetectGDK;
            pDST_stPara->nDetectGrayType = prmTSkyDet->nDetectGrayType;
            // 局部面目标检测器
            pDAT_stPara->nDetectGrayType = prmTSkyDet->nDetectGrayType;
            pDAT_stPara->nGradThresMin = prmTSkyDet->fAreaDetectGradDiffThre;
            pDAT_stPara->nGrayThresMinBright = prmTSkyDet->nGrayThresMinBright;
            pDAT_stPara->nGrayThresMinDark = prmTSkyDet->nGrayThresMinDark;
        }
    }
    //锁定失败，转入搜索(半自动截获)
    else
    {
        g_GLB_stPara.stLockCtrl = LOCK_NONE;     //锁定标记复位
        g_GLB_stPara.nStatus = GLB_STATUS_SEARCH;
    }
    return nTrackPipeID;
}


/*************************************
* Method:                Arith_Status_SEARCH()
* Function Description:  算法搜索模式处理流程
* CreateData:            2024/10/11
* Input Param:           GD_VIDEO_FRAME_S img               -- 输入图像
* Input Param:           GLB_INPUT & g_Input                -- 算法每帧输入信息
* Input Param:           GLB_PARAMETERS & g_para            -- 算法控制参数
* Output Param:
* Return:                BBOOL
* Call Relation:
* Other Description:
*************************************/
BBOOL Arith_EOController::Arith_Status_SEARCH(GD_VIDEO_FRAME_S img, GLB_INPUT& g_Input, GLB_PARAMETERS& g_para)
{
    // 检测队列
    TARGET_OBJECT* pFrameTargetArray = g_pFrameTargetArray;

    // 管道队列
    //PIPE* pPipeArray = g_GLB_PipeProc->getPipeArray();

    // 执行全图红外目标检测
    //SINT32 nFrmTargetNum = g_GLB_Detectors->Detect((UBYTE8*)pSrc, nWidth, nHeight, GLB_PT_UINT16);
    SINT32 nFrmTargetNum = g_TotalTargetNum;

    // 目标系统相关的其他信息计算
    Arith_CalcTargetSysInfo(pFrameTargetArray, nFrmTargetNum, g_Input);

    // 合并AI检测目标与传统目标
    nFrmTargetNum = MergeAIAndSATarget(pFrameTargetArray, nFrmTargetNum);
    LOG_DEBUG("nFrmTargetNum:{},bObject:{}fAz:{},fPt:{}", nFrmTargetNum,pFrameTargetArray[0].bObject, pFrameTargetArray[0].afAngle.fAz, pFrameTargetArray[0].afAngle.fPt);
    // MOT管道处理
    g_GLB_PipeProc->Run(pFrameTargetArray, nFrmTargetNum, GLB_STATUS_SEARCH, g_Input);
    // 处理锁定指令，初始化跟踪
    Proc_SearchLock(img, g_Input, g_para);

    return true;
}