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/*********版权所有（C）2020，武汉高德红外股份有限公司***************************************
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* 文件名称： Arith_TrackSAObj.h
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* 文件标识：
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* 内容摘要： 小目标面目标跟踪接口
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* 其它说明： 由于二者都是利用目标特征向量的匹配进行跟踪，原理一致，因此可以合并为一个处理。此模块为对空跟踪器主体部分
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* 当前版本：
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* 创建作者：04046WCW
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* 创建日期：2023/11/05
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* 包含关系：
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*****************************************************************************************/
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#ifndef ARITH_TRACKSAOBJ_H
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#define ARITH_TRACKSAOBJ_H
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#pragma once
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#include "Detect/API_DetectSAObj.h"
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#include "PIPE/Arith_MOT_PipeProc.h"
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#include "Arith_Common.hpp"
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#define FEA_LENS 100 //监控数组长度
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#define GLB_MONITOR_VALID_CNT 100 //监控有效性帧数，稳定跟踪后才使用监控参数进行跟踪决策，防止
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#define GLB_TRACK_SMALL2FACE_CNT 5 //小目标和面目标相互切换数组总长度
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#define GLB_TRACK_SMALL2FACE_THRES 3 //小目标和面目标相互切换计数阈值
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#define GLB_SMALL2FACE_SIZE_THRES 36 //49//64 //小目标转面目标尺寸上限
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//定义监控管道目标特性波动结构体
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typedef struct tagPipeFeatureFluc
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{
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FLOAT32 fStd; //标准差
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FLOAT32 fMean; //均值
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FLOAT32 fMin; //最小值
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FLOAT32 fMax; //最大值
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}PIPE_FEATURE_FLUC;
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//定义监控目标特性，根据需要扩展，常规特性如尺寸、灰度
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typedef struct tagMonitorStatus
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{
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// 特性
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FLOAT32 TargetGray[FEA_LENS];//小目标取灰度极值，面目标取均值
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PIPE_FEATURE_FLUC TargetGray_sta;
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FLOAT32 fGrayWeight;
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FLOAT32 TargetWHRatio[FEA_LENS];
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PIPE_FEATURE_FLUC TargetWHRatio_sta;
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FLOAT32 fWHRWeight;
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FLOAT32 TargetConfRatio[FEA_LENS];
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PIPE_FEATURE_FLUC TargetConfRatio_sta;
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FLOAT32 fConfWeight;
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FLOAT32 TargetPxls[FEA_LENS];
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PIPE_FEATURE_FLUC TargetPxls_sta;
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FLOAT32 fPxlsWeight;
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// 信噪比
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FLOAT32 TargetSNR[FEA_LENS];
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PIPE_FEATURE_FLUC TargetSNR_sta;
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FLOAT32 fSNRWeight;
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// 背景均值
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FLOAT32 TargetBKGMean[FEA_LENS];
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PIPE_FEATURE_FLUC TargetBKGMean_sta;
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FLOAT32 fBKGMeanWeight;
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FLOAT32 fScore; // 当前目标得分
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SINT32 MonitorCnts; //记录总帧数
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SINT32 unLastUpdateFrm; // 最近更新的帧编号
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BBOOL bMonitorVaildFlag; // 目标监控有效标志
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}MonitorStatus;
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//// 运动特征
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//typedef struct tagMoveFeature
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//{
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// SINT32 nLostFrmID;//丢失帧编号
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// ANGLE32F stLostAgl;//丢失点角度
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// SPEED32F stLostSpeed;//丢失前角速度
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//
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// ANGLE32F stTargetCurrAgl;//当前帧预测角度
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// CENTERRECT32S stTargetCurrBox;//当前帧预测图像位置
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//
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//}MoveFeature;
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//
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////////////////////////////////////////////////////////////////////////////////
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//--数据结构定义
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////////////////////////////////////////////////////////////////////////////////
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//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// 跟踪算法搜索分块方案，内容与检测一致，便于赋值
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struct TSA_INPUT
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{
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//搜索区域
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CENTERRECT crCenterRect; //搜索区域宽高
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MINMAXRECT mmCenterRect; //搜索区域边界
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//分块大小
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SINT32 nBlkHeight; //分块高
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SINT32 nBlkWidth; //分块宽
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//搜索区域内分块个数
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SINT32 nBlkNumH; //高度上分块个数
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SINT32 nBlkNumW; //宽度上分块个数
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SINT32 nBlkNum; //总分块个数
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};
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//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//跟踪算法参数结构体
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struct TSA_Parameters
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{
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//相邻两个极大值点合并为一个目标的距离阈值
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SINT32 nObjCombineDist;//相邻两个极大值点合并为一个目标的距离阈值
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SINT32 nPipeRadius; //当前管道计算波门大小
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SIZE32S snSrRadius; //实际搜索区域波门大小
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//管道搜索区域大小
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SINT32 nPipeRadiusLost; //丢失波门最小值
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SINT32 nPipeRadiusTrack;//跟踪波门最小值
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//记忆跟踪
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SINT32 nPipeFOVLostCnt;//管道丢失（记忆跟踪）帧数
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UINT16 nUseAIDetFeq; //使用AI管道更新频率
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BBOOL bEnableSecDetect;//小目标二次检测开关
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};
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//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//跟踪算法输出结果结构体
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typedef struct tagTSA_Output
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{
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SINT32 nFrmSmallObjsCnt; //当前帧小目标个数
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SINT32 nFrmAreaObjsCnt; //当前帧面目标个数
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SINT32 m_nTargetNum; // 对空跟踪局部目标检测个数
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TARGET_OBJECT* mTarget_Array; // 对空跟踪局部目标检测队列
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UINT16 pxObjGrayMax; //目标最大灰度值
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UINT16 pxObjGrayMin; //目标最小灰度值
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}TSA_Output;
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class SA_Tracker
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{
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public:
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SA_Tracker(int nWidth, int nHeight);
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~SA_Tracker();
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// 管道初始化
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bool Init(UINT16* pSrc, SINT32 nWidth,SINT32 nHeight, PIPE* pTrackingPipe, GLB_INPUT* p_GLB_Input);
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// 跟踪，更新目标模型
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int Track(GD_VIDEO_FRAME_S img, SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc);
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// 目标表观特性模型：小面目标
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void TO_RecordObjFeatures(TARGET_OBJECT* ptTargetMonitor, GLB_INPUT* p_GLB_Input);
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// 清除目标特征
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void TO_CleanUpObjFeatures();
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// 重置跟踪器及模型（可选）
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void Reset(OBJECTSTATUS* pObjStatus,BBOOL bUpdateMod, GD_VIDEO_FRAME_S img, SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_GLB_Input);
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// 输出跟踪结果的外接矩形
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RECT32S getTrackRect();
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// 干扰目标统计,注意不是波门内目标个数
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SINT32 getInterfereAreaTargteNum(RECT32S bbox);
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// 获取小目标检测模块
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API_DetectSmallObj* getDSTmodule();
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// 对空所有跟踪器统一输出，便于融合处理
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OBJECTSTATUS m_ObjStatus;
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// 作为检测关联跟踪器，匹配【目标】是最基本的输出，还可以在融合时直接用于输出，不必再从ObjStatus更新到管道
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TARGET_OBJECT m_MatchedTarget;
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//跟踪算法：小目标与面目标相互切换计数
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UBYTE8 TO_pSmall2Area_Target_counter[GLB_TRACK_SMALL2FACE_CNT];
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SINT16 g_GLB_S2ATagCnt; //小目标和面目标相互切换计数器
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// 目标检测队列
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TARGET_OBJECT* m_Target_Array;
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SINT32 m_nTargetNum;
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// 跟踪匹配目标的ID
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SINT32 nTrackTargetID;
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// 跟踪目标模式
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SizeType m_SizeMode;
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GrayType m_GrayMode;
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// 算法输入输出
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TSA_INPUT m_TSA_Input;
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TSA_Parameters m_TSA_Param;
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TSA_Output m_TSA_output;
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private:
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// 只更新目标信息到跟踪器,只有融合阶段才写入管道。
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void UpdateObject2Tracker(SINT32 nWidth, SINT32 nHeight,TARGET_OBJECT* pTarget, GLB_INPUT* p_GLB_Input);
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// 波门目标匹配
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SINT32 FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SINT32 nFrmObjsCnt, SINT32 nPipeRadius, FLOAT32 fAglReso);
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// 波门管道匹配
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SINT32 FindMatchPipe(SINT32 nWidth, SINT32 nHeight, PIPE* pLockingPipe, PIPE* m_PipeArray, SINT32 nRealPipeNum,
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SINT32 nMaxPipeNum, TSA_Parameters *pTSA_Param, FLOAT32 fAglReso);
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// 自适应波门
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void SetAutoSearchZone(SINT32 nWidth,SINT32 nHeight, 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();
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FLOAT32 Similarity_Apparent(PIPE* pPipe, TARGET_OBJECT* ptTarget);
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FLOAT32 Similarity_Move(PIPE* pPipe, TARGET_OBJECT* ptTarget, FLOAT32 fAglReso);
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void TO_StatisticsObjFeatures();
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void TO_CalcStdOfArray(FLOAT32* pfArray, SINT32 nTotalLen, SINT32 nEnd,SINT32 nCountLen, PIPE_FEATURE_FLUC* pstPipeFeature);
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FLOAT32 cos_sim(POINT32F v1, POINT32F v2);
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//// 波门管道重捕
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//SINT32 ReFindMatchPipe(PIPE* pPipe, PIPE* ptPipeArray, SINT32 nFrmObjsCnt, SINT32 nPipeRadius, GLB_INPUT* p_GLB_Input, SINT32 nMaxPipeNum);
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//// 更新匹配目标，重置滤波信息，并删除匹配管道
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//void ReElectionPipe(PIPE* pPipe);
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//// 重捕管道更新
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//void UpdatePipe2Tracker(SINT32 nWidth, SINT32 nHeight, PIPE* pPipe, GLB_INPUT* p_GLB_Input);
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//FLOAT32 Similarity_Move(PIPE* pLockPipe, PIPE* pPipeTemp, GLB_INPUT* p_GLB_Input);
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public:
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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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// 小目标检测算法
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API_DetectSmallObj* pDST_Module;
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// 面目标检测算法
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API_DetectAreaObj* pDAT_Module;
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// 历史特征向量记录
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MonitorStatus g_GLB_MonitorStatus;
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//// 全局变量的指针
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//GLB_INPUT* g_GLB_stInput;
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//GLB_PARAMETERS* g_GLB_stPara;
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//GLB_OUTPUT* g_GLB_stOutput;
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};
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#endif
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