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S3315_RK3588/NeoTracker/src/Detect/Arith_DetectAreaObj.cpp

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/*********版权所有（C）2017，武汉高德红外股份有限公司***************
* 文件名称：Arith_DetectAreaObj.h
* 文件标识：面目标检测
* 内容摘要：基于灰度特征+梯度特征+Ostu阈值分割的面目标检测
* 其它说明："DetectAreaObj"的函数、全局变量、宏定义，统一前缀为简写"DAT"。
* 当前版本：《面目标检测标准化V1.0》
* 创建作者：zy
* 创建日期：2017.11.13
*******************************************************************/
#include "Arith_DetectAreaObj.h"
#include "Arith_ImgOperate.h"
#include "Arith_DetectAreaObj.h"
#include "API_DetectSAObj.h"
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//#include "../Version.h"
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#include "opencv2/opencv.hpp"
API_DetectAreaObj * API_DetectAreaObj::Create(SINT32 nWidth, SINT32 nHeight)
{
return new DetectAreaObj(nWidth,nHeight);
}
API_DetectAreaObj * API_DetectAreaObj::Create(SINT32 nWidth, SINT32 nHeight, CENTERRECT mmCenterRect)
{
return new DetectAreaObj(nWidth,nHeight,mmCenterRect);
}
void API_DetectAreaObj::Destroy(API_DetectAreaObj * obj)
{
delete obj;
}
TARGET_OBJECT CreateNewTarget(GD_VIDEO_FRAME_S img, SINT32 nWidth, SINT32 nHeight, RECT32S bbox, SINT32 unFrmId)
{
MINMAXRECT32S mrnObjRect;
OBJECTSNR objSNR;
TARGET_OBJECT tNewTarget = { 0 };
TARGET_OBJECT* pNewTarget = NULL;
POINT32F ptfObjPos = { 0 };
ptfObjPos.x = FLOAT32(bbox.x + bbox.w / 2);
ptfObjPos.y = FLOAT32(bbox.y + bbox.h / 2);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算目标边界矩形
mrnObjRect.minY = MAX(0, MIN((SINT32)(bbox.y), nHeight - 1));
mrnObjRect.maxY = MAX(0, MIN((SINT32)(bbox.y + bbox.h), nHeight - 1));
mrnObjRect.minX = MAX(0, MIN((SINT32)(bbox.x), nWidth - 1));
mrnObjRect.maxX = MAX(0, MIN((SINT32)(bbox.x + bbox.w), nWidth - 1));
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//新建目标
memset(&tNewTarget, 0, sizeof(TARGET_OBJECT));
tNewTarget.bObject = true;
tNewTarget.unFrmID = unFrmId;
tNewTarget.pfCenPos = ptfObjPos;
tNewTarget.pnMaxPos.x = (SINT16)(ptfObjPos.x);
tNewTarget.pnMaxPos.y = (SINT16)(ptfObjPos.y);
tNewTarget.mrnRect.minY = (SINT16)(mrnObjRect.minY);
tNewTarget.mrnRect.maxY = (SINT16)(mrnObjRect.maxY);
tNewTarget.mrnRect.minX = (SINT16)(mrnObjRect.minX);
tNewTarget.mrnRect.maxX = (SINT16)(mrnObjRect.maxX);
tNewTarget.snSize.w = (SINT16)(bbox.w);
tNewTarget.snSize.h = (SINT16)(bbox.h);
tNewTarget.snSize.s = (SINT32)(bbox.w * bbox.h);
tNewTarget.unObjPxlsCnt = (SINT32)(tNewTarget.snSize.s);
//计算目标的背景均值、背景标准差、SNR
memset(&objSNR, 0, sizeof(OBJECTSNR));
DAT_CalRectObjSNR_IMG(img, nWidth, nHeight, mrnObjRect, 3, &objSNR, DAT_DETECT_OBJ_TYPE_ALL);
tNewTarget.pxObjGray = (UINT16)objSNR.ObjGray;
tNewTarget.nObjTypeSize = GLB_OBJ_SIZE_FACE;
tNewTarget.nObjTypeGray = objSNR.fSNR > 0.0f ? GLB_OBJ_GRAY_BRIGHT : GLB_OBJ_GRAY_DARK;
tNewTarget.fBGMean = objSNR.BGMean;
tNewTarget.fBGStd = objSNR.BGStd;
tNewTarget.fSNR = objSNR.fSNR;
return tNewTarget;
}
DetectAreaObj::DetectAreaObj(int nWidth, int nHeight)
{
DAT_pxDetectArea = NULL;
DAT_pnMagArry = NULL;
DAT_pFlagHasSearch = NULL;
DAT_fGradX = NULL;
DAT_fGradY = NULL;
DAT_pxDetectAreaIntegral = NULL;
DAT_pBinary_Mag = NULL;
DAT_pBinary_Gray = NULL;
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DAT_pBinary_GrayNew = NULL;
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DAT_DIFF = NULL;
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DAT_pxDetectAreaGradIntegral = NULL;
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m_DAT_bInitialize = FALSE;
m_FrmObjsCnt = 0;
CENTERRECT mmCenterRect;
mmCenterRect.cx = nWidth / 2;
mmCenterRect.cy = nHeight / 2;
mmCenterRect.w = nWidth;
mmCenterRect.h = nHeight;
mmCenterRect.s = nWidth * nHeight;
Init(nWidth, nHeight, mmCenterRect);
}
DetectAreaObj::DetectAreaObj(int nWidth, int nHeight, CENTERRECT mmCenterRect)
{
DAT_pxDetectArea = NULL;
DAT_pnMagArry = NULL;
DAT_pFlagHasSearch = NULL;
DAT_fGradX = NULL;
DAT_fGradY = NULL;
DAT_pxDetectAreaIntegral = NULL;
DAT_pBinary_Mag = NULL;
DAT_pBinary_Gray = NULL;
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DAT_pBinary_GrayNew = NULL;
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DAT_DIFF = NULL;
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DAT_pxDetectAreaGradIntegral = NULL;
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m_DAT_bInitialize = FALSE;
m_FrmObjsCnt = 0;
Init(nWidth, nHeight, mmCenterRect);
}
DetectAreaObj::~DetectAreaObj()
{
DAT_ReleaseMemory();
}
bool DetectAreaObj::Init(SINT32 nWidth, SINT32 nHeight, CENTERRECT mmCenterRect)
{
DAT_Initialization(nWidth, nHeight, mmCenterRect);
m_FrmObjsCnt = 0;
bEnableAreaObjDetect = true;
return TRUE;
}
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int DetectAreaObj::GetAreaSegInfo(GD_VIDEO_FRAME_S img, CENTERRECT mmCenterRect, GLB_STATUS nStatus, PixcelsCnt *pCnt)
{
int landsNum = DAT_ObjectAreaSeg(img, mmCenterRect, nStatus, pCnt);
return landsNum;
}
int DetectAreaObj::Detect(GD_VIDEO_FRAME_S img, CENTERRECT mmCenterRect, SINT32 nObjCombineDist, GLB_STATUS nStatus)
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{
if (!bEnableAreaObjDetect)
{
m_FrmObjsCnt = 0;
return ERR_UNInit;
}
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if (GLB_STATUS::GLB_STATUS_TRACK == nStatus)
{
if (0 == nObjCombineDist)
{
nObjCombineDist = m_DAT_stPara.nObjCombineDist;
}
}
else
{
nObjCombineDist = m_DAT_stPara.nObjCombineDist;
}
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m_DAT_stInput.crnSrRect = mmCenterRect;
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m_FrmObjsCnt = DAT_DetectAreaTarget(img, nStatus, nObjCombineDist);
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return m_FrmObjsCnt;
}
TARGET_OBJECT* DetectAreaObj::GetTargetArray()
{
return DAT_Target;
}
OBJECTSTATUS* DetectAreaObj::GetTargetMatched()
{
return &m_DatTrkTarget;
}
SINT32 DetectAreaObj::GetTargetNum()
{
return m_FrmObjsCnt;
}
void DetectAreaObj::SetTargetNum(SINT32 num)
{
m_FrmObjsCnt = num;
}
BBOOL DetectAreaObj::getDatDetState()
{
return bEnableAreaObjDetect;
}
void DetectAreaObj::setDatDetState(BBOOL bEnableState)
{
bEnableAreaObjDetect = bEnableState;
}
DAT_PARAMETERS* DetectAreaObj::GetDatParm()
{
return &m_DAT_stPara;
}
DAT_OUTPUT* DetectAreaObj::getDAT_stOutput()
{
return &m_DAT_stOutput;
}
void DetectAreaObj::setDatParm(Param_SkyDetect* param)
{
m_DAT_stPara.nDetectGrayType = param->nDetectGrayType;
m_DAT_stPara.nGrayThresMinBright = param->nGrayThresMinBright;
m_DAT_stPara.nGrayThresMinDark = param->nGrayThresMinDark;
m_DAT_stPara.nGradThresMin = param->fAreaDetectGradDiffThre;
m_DAT_stPara.nDSmpScale = param->nDSmpScale;
}
DAT_INPUT* DetectAreaObj::getDatInput()
{
return &m_DAT_stInput;
}
void DetectAreaObj::DAT_MallocMemory(SINT32 nWidth, SINT32 nHeight, CENTERRECT mmCenterRect)
{
DAT_ReleaseMemory();
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// 处理尺寸，控制默认大小，并波门自适应时考虑该大小
DAT_CENTER_REGION_SIZE = DAT_SEARCH_RGN_H * DAT_SEARCH_RGN_W;
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DAT_pxDetectArea = new UINT16[DAT_CENTER_REGION_SIZE];
DAT_pnMagArry = new UINT16[DAT_CENTER_REGION_SIZE];
DAT_pFlagHasSearch = new UBYTE8[DAT_CENTER_REGION_SIZE];
DAT_fGradX = new SINT16[DAT_TARGET_PXLS_MAX];
DAT_fGradY = new SINT16[DAT_TARGET_PXLS_MAX];
DAT_pxDetectAreaIntegral = new SINT32[DAT_CENTER_REGION_SIZE];
DAT_pBinary_Mag = new UBYTE8[DAT_CENTER_REGION_SIZE];
DAT_pBinary_Gray = new UBYTE8[DAT_CENTER_REGION_SIZE];
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DAT_pBinary_GrayNew = new UBYTE8[DAT_CENTER_REGION_SIZE];
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
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DAT_DIFF = new SINT32[DAT_CENTER_REGION_SIZE];
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DAT_pxDetectAreaGradIntegral = new SINT32[DAT_CENTER_REGION_SIZE];
}
void DetectAreaObj::DAT_ReleaseMemory()
{
if (DAT_pxDetectArea)
{
delete[] DAT_pxDetectArea;
DAT_pxDetectArea = NULL;
}
if (DAT_pnMagArry)
{
delete[] DAT_pnMagArry;
DAT_pnMagArry = NULL;
}
if (DAT_pFlagHasSearch)
{
delete[] DAT_pFlagHasSearch;
DAT_pFlagHasSearch = NULL;
}
if (DAT_fGradX)
{
delete[] DAT_fGradX;
DAT_fGradX = NULL;
}
if (DAT_fGradY)
{
delete[] DAT_fGradY;
DAT_fGradY = NULL;
}
if (DAT_pxDetectAreaIntegral)
{
delete[] DAT_pxDetectAreaIntegral;
DAT_pxDetectAreaIntegral = NULL;
}
if (DAT_pBinary_Mag)
{
delete[] DAT_pBinary_Mag;
DAT_pBinary_Mag = NULL;
}
if (DAT_pBinary_Gray)
{
delete[] DAT_pBinary_Gray;
DAT_pBinary_Gray = NULL;
}
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if (DAT_pBinary_GrayNew)
{
delete[] DAT_pBinary_GrayNew;
DAT_pBinary_GrayNew = NULL;
}
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if (DAT_DIFF)
{
delete[] DAT_DIFF;
DAT_DIFF = NULL;
}
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if (DAT_pxDetectAreaGradIntegral)
{
delete[] DAT_pxDetectAreaGradIntegral;
DAT_pxDetectAreaGradIntegral = NULL;
}
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}
cv::Mat Array2Mat_uchar(const unsigned char* array, int cols, int rows)
{
cv::Mat img(rows, cols, CV_8UC1);
for (int i = 0; i < rows; ++i)
{
for (int j = 0; j < cols; ++j)
{
img.at<uchar>(i, j) = array[i * cols + j];
}
}
return img;
}
/**********************************************************
* 函数名称：DAT_DetectAreaTarget()
* 功能描述：基于区域连通的面目标检测
* 输入参数：UINT16 *pSrc -- 原始图像
* SINT32 nWidth -- 图像宽度
* SINT32 nHeight -- 图像高度
* GLB_STATUS nStatus -- 标识当前检测算法的用途(搜索的检测、跟踪的检测)
* 输出参数：无
* 返 回 值：SINT32 nObjsCnt -- 单帧检测的目标数量
* 调用关系：无
* 其它说明：根据目标大小，进行了3倍降采样操作，
可以根据实际需要修改是否进行降采样，并修改内存空间
**********************************************************/
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SINT32 DetectAreaObj::DAT_DetectAreaTarget(GD_VIDEO_FRAME_S img, GLB_STATUS nStatus, SINT32 nObjCombineDist)
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{
TARGET_OBJECT* ptTargetArray = (TARGET_OBJECT*)DAT_Target_Temp;
TARGET_OBJECT* ptTargetArrayCombine = (TARGET_OBJECT*)DAT_Target_Combine;
SINT32 nObjsCnt = 0;
SIZE32S snSrDSmp;
SIZE32S snSrDSmpInt;
CENTERRECT crnSrRect; //搜索区域中心矩形
MINMAXRECT32S mmrSrRect;//搜索区域边界矩形
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SINT32 nWidth = img.u32Width;
SINT32 nHeight = img.u32Height;
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// 未初始化报错
if (!m_DAT_bInitialize)
{
return ERR_UNInit;
}
#if 0
cv::Mat data1 = Array2Mat_uchar(img.u64VirAddr[0], nWidth, nHeight);
cv::imshow("imput", data1);
#endif
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化单帧检测算法输出结果
DAT_CleanUpFrameDetectOutput();
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算搜索区域在图像上的矩形范围（设置下限为64*64）
SINT32 nDATUnvalidBorder = MAX(m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGradRadius) + 1;
crnSrRect = m_DAT_stInput.crnSrRect;
//m_DAT_stPara.nDSmpScale = 8;
// 计算合适的降采样倍数，如果是在搜索阶段，默认4倍降采样；如果是在跟踪阶段，则需要依据质心跟踪目标的尺寸，动态计算降采样倍数
//判断目标变化趋势,若尺寸大于阈值，则进行目标变大帧计数
if (nStatus == GLB_STATUS_TRACK)
{
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FLOAT32 sSize = MAX(m_DatTrkTarget.sfSize.s, 0.58f * m_DatTrkTarget.snAIDetSize.s); // AI检测尺寸本身偏大，内部有效像素更少，乘以一个估计权重
if (sSize >= 3000)
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{
GLB_Dat16SampleCnt++;
GLB_Dat8SampleCnt = 0;
GLB_Dat4SampleCnt = 0;
GLB_Dat2SampleCnt = 0;
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GLB_Dat1SampleCnt = 0;
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}
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else if (sSize >= 900)
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{
GLB_Dat16SampleCnt = 0;
GLB_Dat8SampleCnt++;
GLB_Dat4SampleCnt = 0;
GLB_Dat2SampleCnt = 0;
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GLB_Dat1SampleCnt = 0;
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}
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else if (sSize < 900 && sSize >= 250)
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{
GLB_Dat16SampleCnt = 0;
GLB_Dat8SampleCnt = 0;
GLB_Dat4SampleCnt++;
GLB_Dat2SampleCnt = 0;
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GLB_Dat1SampleCnt = 0;
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}
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else if (sSize < 250 && sSize >= 100)
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{
GLB_Dat16SampleCnt = 0;
GLB_Dat8SampleCnt = 0;
GLB_Dat4SampleCnt = 0;
GLB_Dat2SampleCnt++;
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GLB_Dat1SampleCnt = 0;
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}
else
{
GLB_Dat16SampleCnt = 0;
GLB_Dat8SampleCnt = 0;
GLB_Dat4SampleCnt = 0;
GLB_Dat2SampleCnt = 0;
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GLB_Dat1SampleCnt++;
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}
//目标降采样调整的帧连续计数器
if (GLB_Dat16SampleCnt > 5)
{
m_DAT_stPara.nDSmpScale = 16;
}
else if (GLB_Dat8SampleCnt > 5)
{
m_DAT_stPara.nDSmpScale = 8;
}
else if (GLB_Dat4SampleCnt > 5)
{
m_DAT_stPara.nDSmpScale = 4;
}
else if (GLB_Dat2SampleCnt > 5)
{
m_DAT_stPara.nDSmpScale = 2;
}
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else if (GLB_Dat1SampleCnt > 5)
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{
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m_DAT_stPara.nDSmpScale = 1;
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}
}
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////自动调整降采样倍数
//if (nStatus != GLB_STATUS_TRACK)
//{
// //根据参考区域大小调整降采样倍数, 计算降采样后参考区域大小
// if (crnSrRect.s < 128 * 128)
// {
// m_DAT_stPara.nDSmpScale = 2;
// }
// else
// {
// m_DAT_stPara.nDSmpScale = 4;
// }
//}
//else
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if (nStatus == GLB_STATUS_TRACK) // 跟踪阶段根据降采样倍数，扩大检测的波门范围
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{
if (16 == m_DAT_stPara.nDSmpScale)
{
crnSrRect.w = (SINT16)(crnSrRect.w * 4);
crnSrRect.h = (SINT16)(crnSrRect.h * 4);
}
else if (8 == m_DAT_stPara.nDSmpScale)
{
crnSrRect.w = (SINT16)(crnSrRect.w * 3);
crnSrRect.h = (SINT16)(crnSrRect.h * 3);
}
else if (4 == m_DAT_stPara.nDSmpScale)
{
crnSrRect.w = (SINT16)(crnSrRect.w * 2);
crnSrRect.h = (SINT16)(crnSrRect.h * 2);
}
else if (2 == m_DAT_stPara.nDSmpScale)
{
crnSrRect.w = (SINT16)(crnSrRect.w);
crnSrRect.h = (SINT16)(crnSrRect.h);
}
else
{
//不处理
}
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m_DAT_stOutput.crCenterRect = crnSrRect;
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}
else
{
//不处理
}
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// 根据固定模板限制降采样倍数最小值
FLOAT32 s_input = crnSrRect.w * crnSrRect.h;
FLOAT32 min_ratio = floor(sqrt(s_input / DAT_CENTER_REGION_SIZE)) + 1;
m_DAT_stPara.nDSmpScale = MAX(m_DAT_stPara.nDSmpScale, min_ratio);
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//边界限制
crnSrRect.w = MAX(crnSrRect.w, DAT_SEARCH_RGN_W_MIN + nDATUnvalidBorder * m_DAT_stPara.nDSmpScale);
crnSrRect.h = MAX(crnSrRect.h, DAT_SEARCH_RGN_W_MIN + nDATUnvalidBorder * m_DAT_stPara.nDSmpScale);
crnSrRect.w = MIN(crnSrRect.w, nWidth - 2);
crnSrRect.h = MIN(crnSrRect.h, nHeight - 2);
crnSrRect.s = crnSrRect.w * crnSrRect.h;
IMGO_CenRect16S2MMRect32S(crnSrRect, &mmrSrRect, nWidth, nHeight);
//边界限制
mmrSrRect.minX = MAX(1, MIN(mmrSrRect.minX, nWidth - 2));
mmrSrRect.maxX = MAX(1, MIN(mmrSrRect.maxX, nWidth - 2));
mmrSrRect.minY = MAX(1, MIN(mmrSrRect.minY, nHeight - 2));
mmrSrRect.maxY = MAX(1, MIN(mmrSrRect.maxY, nHeight - 2));
//更新搜索区域矩形
IMGO_MMRect32S2CenRect16S(mmrSrRect, &crnSrRect);
//MSSu, 20150609: 防止越界
if ((crnSrRect.w <= 1) || (crnSrRect.h <= 1))
{
return nObjsCnt;
}
//计算降采样图像尺寸
snSrDSmp.w = (crnSrRect.w) / m_DAT_stPara.nDSmpScale;
snSrDSmp.h = (crnSrRect.h) / m_DAT_stPara.nDSmpScale;
snSrDSmp.s = snSrDSmp.w * snSrDSmp.h;
//计算积分图尺寸
snSrDSmpInt.w = snSrDSmp.w + 1;
snSrDSmpInt.h = snSrDSmp.h + 1;
snSrDSmpInt.s = snSrDSmpInt.w * snSrDSmpInt.h;
//记录算法结果
m_DAT_stOutput.snSrDSmp = snSrDSmp;
m_DAT_stOutput.mmrSrRect = mmrSrRect;
m_DAT_stOutput.snSrDSmpInt = snSrDSmpInt;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//提取搜索区域图像，二倍降采样后，存入m_DAT_stOutput.pnSrDSmpImg
//20171213，面目标检测不采用抽点的方式二倍降采样
IMGO_GDSGetSubMMRectDownSample(img, nWidth, nHeight,
m_DAT_stOutput.pnSrDSmpImg, mmrSrRect, m_DAT_stPara.nDSmpScale);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算降采样后搜索区域图像pnSrDSmpImg上各点的梯度幅值pnGradMag
//20171110zy：m_DAT_stOutput.pnGradMag图像大小 和 snSrDSmp.w一样，h不一定一样大
IMGO_CalcGradImg(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp.w, snSrDSmp.h, m_DAT_stOutput.pnGradMag);
//计算梯度积分图
IMGO_CalcIntegralImg(m_DAT_stOutput.pnGradMag, snSrDSmp,
m_DAT_stOutput.pnGradInt, m_DAT_stOutput.snSrDSmpInt);
//梯度分割
DAT_GradSegmentation(m_DAT_stOutput.pnGradMag, snSrDSmp, m_DAT_stOutput.pnGradInt,
snSrDSmpInt, m_DAT_stInput.nGradRadius, m_DAT_stInput.nGradRadiusTG,
m_DAT_stPara.nGradThresMin, m_DAT_stOutput.pnGradBinary);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算灰度积分图
IMGO_CalcIntegralImg(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp,
m_DAT_stOutput.pnGrayInt, m_DAT_stOutput.snSrDSmpInt);
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
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11 months ago
//20161115，计算背景目标灰度残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
合入基线更新
6 months ago
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinBright, m_DAT_stOutput.pnGrayBinary, pnTgBgDiff, true);
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//亮目标分割
nObjsCnt = DAT_ObjsSegmentation(m_DAT_stOutput.pnSrDSmpImg,
m_DAT_stOutput.pnGrayBinary, m_DAT_stOutput.pnGradBinary, snSrDSmp,
m_DAT_stOutput.pnGrayInt, m_DAT_stOutput.pnGradInt, snSrDSmpInt,
m_DAT_stInput.snSrBlksNum, m_DAT_stPara.nDSmpScale, mmrSrRect,
ptTargetArray, m_DAT_stPara.nFrmObjsMax, img.enPixelFormat);
//亮目标合并
nObjsCnt = DAT_MergeObjs(ptTargetArray, ptTargetArrayCombine,
合入基线更新
6 months ago
m_DAT_stPara.nFrmObjsMax, nObjsCnt, nObjCombineDist);
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11 months ago
#if 0
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 显示结果
//if (/*g_GLB_stPara.nStatus == GLB_STATUS_TRACK*/1)
{
cv::Mat TmpGrayBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1, DAT_pBinary_Gray);
cv::Mat TmpGradBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1, DAT_pBinary_Mag);
// for (int iH = 0; iH < snSrDSmp.h; iH++)
// {
// memcpy(TmpGrayBinary.data + (iH * DAT_CENTER_REGION_W), g_DAT_stOutput.pnGrayBinary + (iH * snSrDSmp.w), snSrDSmp.w * sizeof(UBYTE8));
// memcpy(TmpGradBinary.data + (iH * DAT_CENTER_REGION_W), g_DAT_stOutput.pnGradBinary + (iH * snSrDSmp.w), snSrDSmp.w * sizeof(UBYTE8));
// }
TmpGrayBinary = TmpGrayBinary * 255;
TmpGradBinary = TmpGradBinary * 255;
cv::resize(TmpGrayBinary, TmpGrayBinary, cv::Size(), m_DAT_stPara.nDSmpScale, m_DAT_stPara.nDSmpScale);
cv::resize(TmpGradBinary, TmpGradBinary, cv::Size(), m_DAT_stPara.nDSmpScale, m_DAT_stPara.nDSmpScale);
cv::Mat FuseImg(m_DAT_stPara.nDSmpScale * snSrDSmp.h, m_DAT_stPara.nDSmpScale * snSrDSmp.w, CV_8UC3);
std::vector<cv::Mat> planes;
cv::split(FuseImg, planes);
planes.at(0) = TmpGrayBinary;
planes.at(2) = TmpGradBinary;
planes.at(1) = 0;
cv::merge(planes, FuseImg);
for (int nIndex = 0; nIndex < nObjsCnt; nIndex++)
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
cv::Rect ret(ptTargetArray[nIndex].mrnRect.minX, ptTargetArray[nIndex].mrnRect.minY,
(ptTargetArray[nIndex].mrnRect.maxX - ptTargetArray[nIndex].mrnRect.minX),
S3315板端测试后状态
11 months ago
(ptTargetArray[nIndex].mrnRect.maxY - ptTargetArray[nIndex].mrnRect.minY));
cv::rectangle(FuseImg, ret, cv::Scalar(0, 255, 0));
}
cv::imshow("分割结果:灰度(B)_梯度(R)", FuseImg);
cv::imshow("灰度分割结果", TmpGrayBinary);
cv::imshow("梯度分割结果", TmpGradBinary);
cv::waitKey(1);
}
#endif
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
S3315板端测试后状态
11 months ago
//20161115，计算背景目标灰度残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
合入基线更新
6 months ago
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinDark, m_DAT_stOutput.pnGrayBinary, pnTgBgDiff, true);
S3315板端测试后状态
11 months ago
//暗目标分割
nObjsCnt = DAT_ObjsSegmentation(m_DAT_stOutput.pnSrDSmpImg,
m_DAT_stOutput.pnGrayBinary, m_DAT_stOutput.pnGradBinary, snSrDSmp,
m_DAT_stOutput.pnGrayInt, m_DAT_stOutput.pnGradInt, snSrDSmpInt,
m_DAT_stInput.snSrBlksNum, m_DAT_stPara.nDSmpScale, mmrSrRect,
ptTargetArray, m_DAT_stPara.nFrmObjsMax, img.enPixelFormat);
//暗目标合并
nObjsCnt = DAT_MergeObjs(ptTargetArray, ptTargetArrayCombine,
合入基线更新
6 months ago
m_DAT_stPara.nFrmObjsMax, nObjsCnt, nObjCombineDist);
S3315板端测试后状态
11 months ago
#if 0
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 显示结果
//if (/*g_GLB_stPara.nStatus == GLB_STATUS_TRACK*/1)
{
cv::Mat TmpGrayBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1, DAT_pBinary_Gray);
cv::Mat TmpGradBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1, DAT_pBinary_Mag);
// for (int iH = 0; iH < snSrDSmp.h; iH++)
// {
// memcpy(TmpGrayBinary.data + (iH * DAT_CENTER_REGION_W), g_DAT_stOutput.pnGrayBinary + (iH * snSrDSmp.w), snSrDSmp.w * sizeof(UBYTE8));
// memcpy(TmpGradBinary.data + (iH * DAT_CENTER_REGION_W), g_DAT_stOutput.pnGradBinary + (iH * snSrDSmp.w), snSrDSmp.w * sizeof(UBYTE8));
// }
TmpGrayBinary = TmpGrayBinary * 255;
TmpGradBinary = TmpGradBinary * 255;
cv::resize(TmpGrayBinary, TmpGrayBinary, cv::Size(), m_DAT_stPara.nDSmpScale, m_DAT_stPara.nDSmpScale);
cv::resize(TmpGradBinary, TmpGradBinary, cv::Size(), m_DAT_stPara.nDSmpScale, m_DAT_stPara.nDSmpScale);
cv::Mat FuseImg(m_DAT_stPara.nDSmpScale * snSrDSmp.h, m_DAT_stPara.nDSmpScale * snSrDSmp.w, CV_8UC3);
std::vector<cv::Mat> planes;
cv::split(FuseImg, planes);
planes.at(0) = TmpGrayBinary;
planes.at(2) = TmpGradBinary;
planes.at(1) = 0;
cv::merge(planes, FuseImg);
for (int nIndex = 0; nIndex < nObjsCnt; nIndex++)
{
cv::Rect ret(ptTargetArray[nIndex].mrnRect.minX, ptTargetArray[nIndex].mrnRect.minY,
(ptTargetArray[nIndex].mrnRect.maxX - ptTargetArray[nIndex].mrnRect.minX),
(ptTargetArray[nIndex].mrnRect.maxY - ptTargetArray[nIndex].mrnRect.minY));
cv::rectangle(FuseImg, ret, cv::Scalar(0, 255, 0));
}
cv::imshow("分割结果:灰度(B)_梯度(R)", FuseImg);
cv::imshow("灰度分割结果", TmpGrayBinary);
cv::imshow("梯度分割结果", TmpGradBinary);
cv::waitKey(1);
}
#endif
}
else
{
SINT32 nFrmBrightObjCnt = 0;
SINT32 nFrmDarkObjCnt = 0;
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
S3315板端测试后状态
11 months ago
//20161112Whao，初始化亮暗目标数组
TARGET_OBJECT* ptDATResultBright = (TARGET_OBJECT*)DAT_Target_Bright;
TARGET_OBJECT* ptDATResultDark = (TARGET_OBJECT*)DAT_Target_DARK;
memset(ptDATResultBright, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
memset(ptDATResultDark, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
//20161112，先执行亮目标灰度
m_DAT_stPara.nDetectGrayType = GLB_OBJ_GRAY_BRIGHT;
//20161115，计算背景目标灰度残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
//亮目标灰度分割
合入基线更新
6 months ago
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinBright, m_DAT_stOutput.pnGrayBinary, pnTgBgDiff, true);
S3315板端测试后状态
11 months ago
//亮目标分割
nFrmBrightObjCnt = DAT_ObjsSegmentation(m_DAT_stOutput.pnSrDSmpImg,
m_DAT_stOutput.pnGrayBinary, m_DAT_stOutput.pnGradBinary, snSrDSmp,
m_DAT_stOutput.pnGrayInt, m_DAT_stOutput.pnGradInt, snSrDSmpInt,
m_DAT_stInput.snSrBlksNum, m_DAT_stPara.nDSmpScale, mmrSrRect,
ptTargetArray, m_DAT_stPara.nFrmObjsMax, img.enPixelFormat);
//亮目标合并
nFrmBrightObjCnt = DAT_MergeObjs(ptTargetArray, ptTargetArrayCombine,
合入基线更新
6 months ago
m_DAT_stPara.nFrmObjsMax, nFrmBrightObjCnt, nObjCombineDist);
S3315板端测试后状态
11 months ago
//复制面目标结果到共享空间（DSP双核移植时使用）
TARGET_OBJECT* ptDATResultBrightTmp = (TARGET_OBJECT*)DAT_Target_Temp;
memcpy(ptDATResultBright, ptDATResultBrightTmp, nFrmBrightObjCnt * sizeof(TARGET_OBJECT));
//初始化单帧目标数组
memset(ptTargetArray, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
memset(ptTargetArrayCombine, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
memset(m_DAT_stOutput.pnGrayBinary, 0, sizeof(UBYTE8) * DAT_CENTER_REGION_SIZE);
memset(pnTgBgDiff, 0, sizeof(SINT16) * DAT_CENTER_REGION_SIZE); //初始化背景残差图数组
//20161112，再执行暗目标灰度分割
m_DAT_stPara.nDetectGrayType = GLB_OBJ_GRAY_DARK;
//计算暗目标与背景残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
//暗目标灰度分割
合入基线更新
6 months ago
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinDark, m_DAT_stOutput.pnGrayBinary, pnTgBgDiff, true);
S3315板端测试后状态
11 months ago
//暗目标分割
nFrmDarkObjCnt = DAT_ObjsSegmentation(m_DAT_stOutput.pnSrDSmpImg,
m_DAT_stOutput.pnGrayBinary, m_DAT_stOutput.pnGradBinary, snSrDSmp,
m_DAT_stOutput.pnGrayInt, m_DAT_stOutput.pnGradInt, snSrDSmpInt,
m_DAT_stInput.snSrBlksNum, m_DAT_stPara.nDSmpScale, mmrSrRect,
ptTargetArray, m_DAT_stPara.nFrmObjsMax, img.enPixelFormat);
//暗目标合并
nFrmDarkObjCnt = DAT_MergeObjs(ptTargetArray, ptTargetArrayCombine,
合入基线更新
6 months ago
m_DAT_stPara.nFrmObjsMax, nFrmDarkObjCnt, nObjCombineDist);
S3315板端测试后状态
11 months ago
//复制暗面目标结果
TARGET_OBJECT* ptDATResultDarkTmp = (TARGET_OBJECT*)DAT_Target_Temp;
memcpy(ptDATResultDark, ptDATResultDarkTmp, nFrmDarkObjCnt * sizeof(TARGET_OBJECT));
//20161112，合并检测结果
nObjsCnt = DAT_MergeTargets(ptDATResultBright, ptDATResultDark, nFrmBrightObjCnt, nFrmDarkObjCnt, m_DAT_stPara.nFrmObjsMax);
//20171110zy: 还原灰度检测类型，不与小目标检测类型相关联
m_DAT_stPara.nDetectGrayType = GLB_OBJ_GRAY_ALL;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//复制面目标结果到共享空间（DSP双核移植时使用）
TARGET_OBJECT* ptDATResult = (TARGET_OBJECT*)DAT_Target;
TARGET_OBJECT* ptDATResulTemp = (TARGET_OBJECT*)DAT_Target_Temp;
memcpy(ptDATResult, ptDATResulTemp, nObjsCnt * sizeof(TARGET_OBJECT));
// 导出分割图
m_DAT_stOutput.DAT_pBinary_Gray = DAT_pBinary_Gray;
m_DAT_stOutput.DAT_pBinary_Mag = DAT_pBinary_Mag;
// 显式输出目标个数
m_DAT_stOutput.nFrmObjsCnt = nObjsCnt;
return nObjsCnt;
}
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
void dfs(unsigned char* grid, int nr, int nc, int r, int c)
合入基线更新
6 months ago
{
grid[r * nc + c] = '\0';
if (r - 1 >= 0 && grid[(r - 1) * nc + c] == '\x1') dfs(grid, nr, nc, r - 1, c);
if (r + 1 < nr && grid[(r + 1) * nc + c] == '\x1') dfs(grid, nr, nc, r + 1, c);
if (c - 1 >= 0 && grid[r * nc + (c - 1)] == '\x1') dfs(grid, nr, nc, r, c - 1);
if (c + 1 < nc && grid[r * nc + (c + 1)] == '\x1') dfs(grid, nr, nc, r, c + 1);
}
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
int numIslands(unsigned char* grid, int nr, int nc)
合入基线更新
6 months ago
{
int num_islands = 0;
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
for (int r = 0; r < nr; ++r)
合入基线更新
6 months ago
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
for (int c = 0; c < nc; ++c)
合入基线更新
6 months ago
{
if (grid[r * nc + c] == '\x1')
{
++num_islands;
dfs(grid, nr, nc, r, c);
}
}
}
return num_islands;
}
int numPixcels(unsigned char* grid, int nr, int nc, int* holeXpixcel, int* holeYpixcel)
{
int num_pixcel = 0;
*holeXpixcel = 0;
// 统计行孔洞数
for (int r = 0; r < nr; ++r)
{
bool len_start = false;
bool len_end = true;
int lineXPixcel = 0;
int stepXPixcel = 0;
for (int c = 0; c < nc; ++c)
{
if (grid[r * nc + c] == '\x1')
{
num_pixcel++;
}
if (len_start == false && grid[r * nc + c] == '\x1')
{
len_start = true;
continue;
}
if (true == len_start)
{
if (grid[r * nc + c] == '\0')
{
stepXPixcel += 1;
}
else
{
if (stepXPixcel > 0)
{
lineXPixcel += stepXPixcel;
stepXPixcel = 0;
len_start = false;
}
}
}
}
(*holeXpixcel) += lineXPixcel;
}
//统计列孔洞数
for (int c = 0; c < nc; ++c)
{
bool col_start = false;
bool col_end = true;
int lineYPixcel = 0;
int stepYPixcel = 0;
for (int r = 0; r < nr; ++r)
{
if (col_start == false && grid[r * nc + c] == '\x1')
{
col_start = true;
continue;
}
if (true == col_start)
{
if (grid[r * nc + c] == '\0')
{
stepYPixcel += 1;
}
else
{
if (stepYPixcel > 0)
{
lineYPixcel += stepYPixcel;
stepYPixcel = 0;
col_start = false;
}
}
}
}
(*holeYpixcel) += lineYPixcel;
}
return num_pixcel;
}
/**********************************************************
* 函数名称：DAT_DetectAreaTarget()
* 功能描述：基于区域连通的面目标检测
* 输入参数：UINT16 *pSrc -- 原始图像
CENTERRECT crnSrRect; //搜索区域中心矩形
* GLB_STATUS nStatus -- 标识当前检测算法的用途(搜索的检测、跟踪的检测)
* 输出参数：无
* 返 回 值：SINT32 nObjsCnt -- 单帧检测的目标数量
* 调用关系：无
* 其它说明：根据目标大小，进行了3倍降采样操作，
可以根据实际需要修改是否进行降采样，并修改内存空间
**********************************************************/
SINT32 DetectAreaObj::DAT_ObjectAreaSeg(GD_VIDEO_FRAME_S img, CENTERRECT crnSrRect, GLB_STATUS nStatus, PixcelsCnt* pCnt)
{
SINT32 nObjsCnt = 0;
SIZE32S snSrDSmp;
SIZE32S snSrDSmpInt;
MINMAXRECT32S mmrSrRect;//搜索区域边界矩形
SINT32 nDSmpScale = 1;
SINT32 landsNum = 0;
//SINT32 numPixcel = 0;
//SINT32 holeXpixcel = 0; // x方向孔洞数
//SINT32 holeYpixcel = 0; // y方向孔洞数
#if 0
cv::Mat data1 = Array2Mat_uchar(img.u64VirAddr[0], nWidth, nHeight);
cv::imshow("imput", data1);
#endif
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算搜索区域在图像上的矩形范围（设置下限为64*64）
SINT32 nDATUnvalidBorder = MAX(m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGradRadius) + 1;
//crnSrRect = m_DAT_stInput.crnSrRect;
//判断目标变化趋势,若尺寸大于阈值，则进行目标变大帧计数
if (nStatus != GLB_STATUS_TRACK)
{
return 0;
}
//边界限制
crnSrRect.w = MAX(crnSrRect.w, DAT_SEARCH_RGN_W_MIN + nDATUnvalidBorder * nDSmpScale);
crnSrRect.h = MAX(crnSrRect.h, DAT_SEARCH_RGN_W_MIN + nDATUnvalidBorder * nDSmpScale);
crnSrRect.w = MIN(crnSrRect.w, (SINT32)img.u32Width - 2);
crnSrRect.h = MIN(crnSrRect.h, (SINT32)img.u32Height - 2);
crnSrRect.s = crnSrRect.w * crnSrRect.h;
IMGO_CenRect16S2MMRect32S(crnSrRect, &mmrSrRect, img.u32Width, img.u32Height);
//边界限制
mmrSrRect.minX = MAX(1, MIN(mmrSrRect.minX, (SINT32)img.u32Width - 2));
mmrSrRect.maxX = MAX(1, MIN(mmrSrRect.maxX, (SINT32)img.u32Width - 2));
mmrSrRect.minY = MAX(1, MIN(mmrSrRect.minY, (SINT32)img.u32Height - 2));
mmrSrRect.maxY = MAX(1, MIN(mmrSrRect.maxY, (SINT32)img.u32Height - 2));
//更新搜索区域矩形
IMGO_MMRect32S2CenRect16S(mmrSrRect, &crnSrRect);
//MSSu, 20150609: 防止越界
if ((crnSrRect.w <= 1) || (crnSrRect.h <= 1))
{
return nObjsCnt;
}
//计算降采样图像尺寸
snSrDSmp.w = crnSrRect.w;
snSrDSmp.h = crnSrRect.h;
snSrDSmp.s = snSrDSmp.w * snSrDSmp.h;
//计算积分图尺寸
snSrDSmpInt.w = snSrDSmp.w + 1;
snSrDSmpInt.h = snSrDSmp.h + 1;
snSrDSmpInt.s = snSrDSmpInt.w * snSrDSmpInt.h;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//提取搜索区域图像，二倍降采样后，存入m_DAT_stOutput.pnSrDSmpImgNew
//20171213，面目标检测不采用抽点的方式二倍降采样
IMGO_GDSGetSubMMRectDownSample(img, img.u32Width, img.u32Height,
m_DAT_stOutput.pnSrDSmpImg, mmrSrRect, nDSmpScale);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算灰度积分图
IMGO_CalcIntegralImg(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp,
m_DAT_stOutput.pnGrayInt, snSrDSmpInt);
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
合入基线更新
6 months ago
//20161115，计算背景目标灰度残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinBright, DAT_pBinary_GrayNew, pnTgBgDiff, false);
#if 0
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
cv::Mat TmpGrayBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1);
memcpy(TmpGrayBinary.data, DAT_pBinary_GrayNew, snSrDSmp.h * snSrDSmp.w * sizeof(UBYTE8));
TmpGrayBinary = TmpGrayBinary * 255;
cv::imshow("灰度分割结果", TmpGrayBinary);
cv::waitKey(1);
#endif
pCnt->nObjCnt = numPixcels(DAT_pBinary_GrayNew, snSrDSmp.h, snSrDSmp.w, &pCnt->nObjXHoleCnt, &pCnt->nObjYHoleCnt);
landsNum = numIslands(DAT_pBinary_GrayNew, snSrDSmp.h, snSrDSmp.w);
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
合入基线更新
6 months ago
//20161115，计算背景目标灰度残差图
DAT_CalcTgBgDiff(m_DAT_stOutput.pnSrDSmpImg, snSrDSmp, m_DAT_stOutput.pnGrayInt,
snSrDSmpInt, m_DAT_stInput.nGrayRadius, m_DAT_stInput.nGrayRadiusTG, pnTgBgDiff);
DAT_GraySegmentation(snSrDSmp, m_DAT_stInput.nGrayRadius, m_DAT_stPara.nGrayThresMinDark, DAT_pBinary_GrayNew, pnTgBgDiff, false);
#if 0
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
cv::Mat TmpGrayBinary(snSrDSmp.h, snSrDSmp.w, CV_8UC1);
memcpy(TmpGrayBinary.data, DAT_pBinary_GrayNew, snSrDSmp.h * snSrDSmp.w * sizeof(UBYTE8));
TmpGrayBinary = TmpGrayBinary * 255;
cv::imshow("灰度分割结果", TmpGrayBinary);
cv::waitKey(1);
#endif
pCnt->nObjCnt = numPixcels(DAT_pBinary_GrayNew, snSrDSmp.h, snSrDSmp.w, &pCnt->nObjXHoleCnt, &pCnt->nObjYHoleCnt);
landsNum = numIslands(DAT_pBinary_GrayNew, snSrDSmp.h, snSrDSmp.w);
}
return landsNum;
}
S3315板端测试后状态
11 months ago
/**********************************************************
* 函数名称：DAT_Initialization()
* 功能描述：算法初始化
* 输入参数：无
* 输出参数：无
* 返 回 值：无
* 调用关系：无
* 其它说明：无
**********************************************************/
void DetectAreaObj::DAT_Initialization(SINT32 nWidth, SINT32 nHeight, CENTERRECT mmCenterRect)
{
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化算法输入
//搜索区域
m_DAT_stInput.crnSrRect.cx = (SINT16)(mmCenterRect.cx); //搜索区域中心点cx
m_DAT_stInput.crnSrRect.cy = (SINT16)(mmCenterRect.cy); //搜索区域中心点cy
m_DAT_stInput.crnSrRect.w = mmCenterRect.w; //搜索区域宽度w
m_DAT_stInput.crnSrRect.h = mmCenterRect.h; //搜索区域高度h
m_DAT_stInput.crnSrRect.s = mmCenterRect.w * mmCenterRect.h;
//梯度分块尺寸
m_DAT_stInput.nGradRadius = DAT_GRAD_BLK_RADIUS;
m_DAT_stInput.nGradRadiusTG = DAT_GRAD_BLK_RADIUS_TG;
m_DAT_stInput.snGradBlkSize.w = m_DAT_stInput.nGradRadius * 2 + 1;
m_DAT_stInput.snGradBlkSize.h = m_DAT_stInput.snGradBlkSize.w;
m_DAT_stInput.snGradBlkSize.s = m_DAT_stInput.snGradBlkSize.w * m_DAT_stInput.snGradBlkSize.h;
//灰度分块尺寸
m_DAT_stInput.nGrayRadius = DAT_GRAY_BLK_RADIUS;
m_DAT_stInput.nGrayRadiusTG = DAT_GRAY_BLK_RADIUS_TG;
m_DAT_stInput.snGrayBlkSize.w = m_DAT_stInput.nGrayRadius * 2 + 1;
m_DAT_stInput.snGrayBlkSize.h = m_DAT_stInput.snGrayBlkSize.w;
m_DAT_stInput.snGrayBlkSize.s = m_DAT_stInput.snGrayBlkSize.w * m_DAT_stInput.snGrayBlkSize.h;
//搜索区域分块个数
m_DAT_stInput.snSrBlksNum.w = DAT_SR_RGN_BLKS_NUM_W;
m_DAT_stInput.snSrBlksNum.h = DAT_SR_RGN_BLKS_NUM_H;
m_DAT_stInput.snSrBlksNum.s = DAT_SR_RGN_BLKS_NUM;
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化算法参数
//
m_DAT_stPara.nDetectGrayType = GLB_OBJ_GRAY_ALL; // 默认检测亮/暗目标
m_DAT_stPara.nFrmObjsMax = DAT_TARGET_NUM_MAX;
m_DAT_stPara.nDSmpScale = DAT_DSAMPLE_SCALE; // 默认降采样倍数
m_DAT_stPara.nGradThresMin = DAT_GRAD_THRES_MIN;
m_DAT_stPara.nObjSizeMin = DAT_TARGET_PXLS_MIN;
m_DAT_stPara.nObjSizeMax = DAT_TARGET_PXLS_MAX;
m_DAT_stPara.nObjWidthMax = DAT_TARGET_WIDTH_MAX;
m_DAT_stPara.nObjHeightMax = DAT_TARGET_HEIGHT_MAX;
20250821K2基地修改参数版本 V1.3.2
4 months ago
m_DAT_stPara.fObjWHRatioMin = 0.2f;
m_DAT_stPara.fObjWHRatioMax = 5.0f;
S3315板端测试后状态
11 months ago
m_DAT_stPara.fObjRectRatioMin = 0.3f;
m_DAT_stPara.nObjBkgGrayDiffMin = 10;
m_DAT_stPara.fBkgGrayDiffCoeff = 0.35f;
m_DAT_stPara.fgdk = DAT_OBJ_SNR_MIN;
m_DAT_stPara.nObjCombineDist = 11;
//20161113Whao，亮暗目标两套阈值
m_DAT_stPara.nGrayThresMinBright = DAT_GRAY_THRES_BRIGHT_MIN;
m_DAT_stPara.nGrayThresMinDark = DAT_GRAY_THRES_DARK_MIN;
//面目标检测去虚警开关（上位机软件界面可调）
m_DAT_stPara.bUseDeFA_ObjVarMin = 1;
m_DAT_stPara.bUseDeFA_Size = 1;
m_DAT_stPara.bUseDeFA_WHRatio = 1;
m_DAT_stPara.bUseDeFA_RectRatio = 1;
m_DAT_stPara.bUseDeFA_BTGrayMin = 0;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 内存申请
DAT_MallocMemory(nWidth, nHeight, mmCenterRect);
//初始化算法输出结果
memset(&m_DAT_stOutput, 0, sizeof(DAT_OUTPUT));
//初始化灰度图指针
m_DAT_stOutput.pnSrDSmpImg = (UINT16*)DAT_pxDetectArea;
m_DAT_stOutput.pnGrayBinary = (UBYTE8*)DAT_pBinary_Gray;
m_DAT_stOutput.pnGrayInt = (SINT32*)DAT_pxDetectAreaIntegral;
合入基线更新
6 months ago
//m_DAT_stOutput.pnSrDSmpImgNew = (UINT16*)DAT_pxDetectAreaNew;
S3315板端测试后状态
11 months ago
//初始化梯度图指针
m_DAT_stOutput.pnGradMag = (UINT16*)DAT_pnMagArry;
m_DAT_stOutput.pnGradBinary = (UBYTE8*)DAT_pBinary_Mag;
m_DAT_stOutput.pnGradInt = (SINT32*)DAT_pxDetectAreaGradIntegral;
//初始化单帧检测算法输出结果
DAT_CleanUpFrameDetectOutput();
//算法初始化标记
m_DAT_bInitialize = TRUE; //DAT算法初始化标志。1-初始化，0-不初始化。
}
/**********************************************************
* 函数名称：DAT_CleanUpFrameDetectOutput()
* 功能描述：初始化单帧检测算法输出结果
* 输入参数：无
* 输出参数：无
* 返 回 值：无
* 调用关系：无
* 其它说明：无
**********************************************************/
void DetectAreaObj::DAT_CleanUpFrameDetectOutput(void)
{
//初始化灰度图指针
memset(m_DAT_stOutput.pnSrDSmpImg, 0, sizeof(UINT16) * DAT_CENTER_REGION_SIZE);
memset(m_DAT_stOutput.pnGrayBinary, 0, sizeof(UBYTE8) * DAT_CENTER_REGION_SIZE);
memset(m_DAT_stOutput.pnGrayInt, 0, sizeof(SINT32) * DAT_CENTER_REGION_SIZE);
//初始化梯度图指针
memset(m_DAT_stOutput.pnGradMag, 0, sizeof(UINT16) * DAT_CENTER_REGION_SIZE);
memset(m_DAT_stOutput.pnGradBinary, 0, sizeof(UBYTE8) * DAT_CENTER_REGION_SIZE);
memset(m_DAT_stOutput.pnGradInt, 0, sizeof(SINT32) * DAT_CENTER_REGION_SIZE);
//初始化单帧目标数组
TARGET_OBJECT* ptTargetArray = (TARGET_OBJECT*)DAT_Target;
TARGET_OBJECT* ptTargetArrayTemp = (TARGET_OBJECT*)DAT_Target_Temp;
TARGET_OBJECT* ptTargetArrayCombine = (TARGET_OBJECT*)DAT_Target_Combine;
memset(ptTargetArray, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
memset(ptTargetArrayTemp, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
memset(ptTargetArrayCombine, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
//20161116，初始化灰度残差图
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff = (SINT32*)DAT_DIFF;
memset(pnTgBgDiff, 0, sizeof(SINT32) * DAT_CENTER_REGION_SIZE);
S3315板端测试后状态
11 months ago
}
/**********************************************************
* 函数名称：DAT_GradSegmentation()
* 功能描述：梯度分割
* 输入参数：UINT16 *pnImg -- 输入图像
* SIZE32S snImgSize -- 输入图像尺寸
* SINT32 *pnIntImg -- 输入图像积分图
* SIZE32S snIntImgSize-- 积分图尺寸
* SINT32 nRadius -- 邻域半径
* SINT32 nRadiusTG -- 目标半径
* SINT32 nThresMin -- 分割阈值下限
* 输出参数：UBYTE8 *pnBinary -- 二值化图像
* 返 回 值：无
* 调用关系：无
* 其它说明：在输入图像上，查找与邻域背景均值差异满足阈值的点，作为二值化分割点。
* 1）减少计算复杂度：边界不处理，将有效计算区域向内缩小邻域矩形块半径（nRadius）个像素。
* 2）利用积分图g，求(m,n)、(i,j)所成矩形内的像素值累加和：
* RectSum = g(m,n) - g(m,j)
* -g(i,n) + g(i,j)
* 3）固定分割阈值：为nThresMin
* 4）输入图像(i,j)点，对应于积分图像上的(i+1,j+1)点。
**********************************************************/
void DetectAreaObj::DAT_GradSegmentation(UINT16* pnImg, SIZE32S snImgSize,
SINT32* pnIntImg, SIZE32S snIntImgSize,
SINT32 nRadius, SINT32 nRadiusTG, SINT32 nThresMin,
UBYTE8* pnBinary)
{
SINT32 i, j;
SINT32 nBorder = 1; //不处理的边界大小
SINT32 nUnvalid = nRadius + nBorder;//无效区域（不处理）的总大小
SINT32 nDiameter = 2 * nRadius + 1; //邻域直径
SINT32 nTGSize = (2 * nRadiusTG + 1) * (2 * nRadiusTG + 1); //目标矩形像素个数
SINT32 nBlkSize = nDiameter * nDiameter - nTGSize; //邻域矩形像素个数（去除目标矩形）
SINT32 nLine = 0; //当前点行起始坐标（输入图像、二值化图像）
SINT32 nBlkFirstLn = 0; //邻域起始行坐标（积分图）
SINT32 nBlkLastLn = 0; //邻域末尾行坐标（积分图）
SINT32 nTGFirstLn = 0; //目标起始行坐标（积分图）
SINT32 nTGLastLn = 0; //目标末尾行坐标（积分图）
SINT32 nCurrId = 0; //当前点图像坐标（输入图像、二值化图像）
SINT32 nCurrValue = 0; //当前像素值（输入图像）
SINT32 nBlkMean = 0; //邻域均值（积分图）
SINT32 nTGSum = 0; //目标像素值之和（积分图）
SINT32 nTGMean = 0; //目标均值（积分图）
MINMAXRECT32S mrnRectValid; //有效计算区域矩形
MINMAXRECT32S mrnIntBlkRect;//邻域块矩形（积分图）
MINMAXRECT32S mrnIntTGRect; //目标矩形（积分图）
SINT16 nMaxIters = DAT_MAX_SEG_TIMES;
//20161113Whao，计算的总有效点数
UBYTE8 nIter = 0; //迭代次数
SINT32 nTotalPnts = 0; //总的点数
SINT32 nValidPnts = 0; //二値化为1的有效点数
FLOAT32 fValidRatio = 0.0f; //二值分割后的有效点占比
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算有效区域矩形
mrnRectValid.minX = nUnvalid;
mrnRectValid.maxX = snImgSize.w - 1 - nUnvalid;
mrnRectValid.minY = nUnvalid;
mrnRectValid.maxY = snImgSize.h - 1 - nUnvalid;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化背景邻域块矩形、起始及末尾行坐标
mrnIntBlkRect.minY = mrnRectValid.minY - nRadius;
mrnIntBlkRect.maxY = mrnRectValid.minY + 1 + nRadius;
mrnIntBlkRect.minX = mrnRectValid.minX - nRadius;
mrnIntBlkRect.maxX = mrnRectValid.minX + 1 + nRadius;
nBlkFirstLn = mrnIntBlkRect.minY * snIntImgSize.w;
nBlkLastLn = mrnIntBlkRect.maxY * snIntImgSize.w;
//初始化目标矩形、起始及末尾行坐标
mrnIntTGRect.minY = mrnRectValid.minY - nRadiusTG;
mrnIntTGRect.maxY = mrnRectValid.minY + 1 + nRadiusTG;
mrnIntTGRect.minX = mrnRectValid.minX - nRadiusTG;
mrnIntTGRect.maxX = mrnRectValid.minX + 1 + nRadiusTG;
nTGFirstLn = mrnIntTGRect.minY * snIntImgSize.w;
nTGLastLn = mrnIntTGRect.maxY * snIntImgSize.w;
//20161113Whao，计算的总有效点数
nTotalPnts = (mrnRectValid.maxY - mrnRectValid.minY + 1) * (mrnRectValid.maxX - mrnRectValid.minX + 1);
for (nIter = 0; nIter < nMaxIters; nIter++)
{
//20161113，重置二値化结果数组
memset(pnBinary, 0, sizeof(UBYTE8) * DAT_CENTER_REGION_SIZE);
nValidPnts = 0;
nLine = mrnRectValid.minY * snImgSize.w;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化背景邻域块矩形、起始及末尾行坐标
mrnIntBlkRect.minY = mrnRectValid.minY - nRadius;
mrnIntBlkRect.maxY = mrnRectValid.minY + 1 + nRadius;
mrnIntBlkRect.minX = mrnRectValid.minX - nRadius;
mrnIntBlkRect.maxX = mrnRectValid.minX + 1 + nRadius;
nBlkFirstLn = mrnIntBlkRect.minY * snIntImgSize.w;
nBlkLastLn = mrnIntBlkRect.maxY * snIntImgSize.w;
//初始化目标矩形、起始及末尾行坐标
mrnIntTGRect.minY = mrnRectValid.minY - nRadiusTG;
mrnIntTGRect.maxY = mrnRectValid.minY + 1 + nRadiusTG;
mrnIntTGRect.minX = mrnRectValid.minX - nRadiusTG;
mrnIntTGRect.maxX = mrnRectValid.minX + 1 + nRadiusTG;
nTGFirstLn = mrnIntTGRect.minY * snIntImgSize.w;
nTGLastLn = mrnIntTGRect.maxY * snIntImgSize.w;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//在梯度图上，查找与邻域背景均值差异满足阈值的点，作为二值化特征点。
//注：积分图pnIntImg比原始图像pnImg扩大了1行（上侧）、1列（左侧），
nLine = mrnRectValid.minY * snImgSize.w;
for (i = mrnRectValid.minY; i <= mrnRectValid.maxY; i++)
{
for (j = mrnRectValid.minX; j <= mrnRectValid.maxX; j++)
{
//当前点坐标、像素值（输入图像、二值化图像）
nCurrId = nLine + j;
nCurrValue = pnImg[nCurrId];
//计算目标均值
nTGSum = pnIntImg[nTGFirstLn + mrnIntTGRect.minX]
- pnIntImg[nTGFirstLn + mrnIntTGRect.maxX]
- pnIntImg[nTGLastLn + mrnIntTGRect.minX]
+ pnIntImg[nTGLastLn + mrnIntTGRect.maxX];
nTGMean = nTGSum / nTGSize;
//计算邻域均值（去除目标矩形后）
nBlkMean = pnIntImg[nBlkFirstLn + mrnIntBlkRect.minX]
- pnIntImg[nBlkFirstLn + mrnIntBlkRect.maxX]
- pnIntImg[nBlkLastLn + mrnIntBlkRect.minX]
+ pnIntImg[nBlkLastLn + mrnIntBlkRect.maxX];
nBlkMean = (nBlkMean - nTGSum) / nBlkSize;
//将梯度值比背景梯度均值大nThresMin的像素标记为显著点
if (nTGMean - nBlkMean > nThresMin)
{
pnBinary[nCurrId] = DAT_FLAG_BINARY;
nValidPnts++;
}
//更新邻域块矩形（积分图）X坐标范围
mrnIntBlkRect.minX++;
mrnIntBlkRect.maxX++;
//更新目标矩形（积分图）X坐标范围
mrnIntTGRect.minX++;
mrnIntTGRect.maxX++;
}
//更新当前点行起始坐标（输入图像、二值化图像）
nLine += snImgSize.w;
//邻域块矩形（积分图）Y坐标范围、X坐标范围
mrnIntBlkRect.minY++;
mrnIntBlkRect.maxY++;
mrnIntBlkRect.minX = mrnRectValid.minX - nRadius;
mrnIntBlkRect.maxX = mrnRectValid.minX + 1 + nRadius;
nBlkFirstLn += snIntImgSize.w;
nBlkLastLn += snIntImgSize.w;
//目标矩形（积分图）Y坐标范围、X坐标范围
mrnIntTGRect.minY++;
mrnIntTGRect.maxY++;
mrnIntTGRect.minX = mrnRectValid.minX - nRadiusTG;
mrnIntTGRect.maxX = mrnRectValid.minX + 1 + nRadiusTG;
nTGFirstLn += snIntImgSize.w;
nTGLastLn += snIntImgSize.w;
}
// 20171107zy：对超大面目标不进行有效点的判断
//20161113Whao，如果有效点数在阈值范围内跳出，否则调整分割阈值
fValidRatio = (FLOAT32)nValidPnts / (FLOAT32)nTotalPnts;
if (fValidRatio > DAT_MIN_GRAD_SEG_RATIO && fValidRatio < DAT_MAX_GRAD_SEG_RATIO)
{
m_DAT_stPara.nGradThresMin = nThresMin;
break;
}
else if (fValidRatio < DAT_MIN_GRAD_SEG_RATIO)
{
nThresMin = (nThresMin + DAT_GRAD_THRES_MIN) / 2;
nThresMin = MAX(nThresMin, DAT_GRAD_THRES_MIN);
if (DAT_GRAD_THRES_MIN == nThresMin)
{
m_DAT_stPara.nGradThresMin = nThresMin;
break;
}
}
else if (fValidRatio > DAT_MAX_GRAD_SEG_RATIO)
{
nThresMin = (nThresMin + DAT_GRAD_THRES_MAX) / 2;
nThresMin = MIN(nThresMin, DAT_GRAD_THRES_MAX);
if (DAT_GRAD_THRES_MAX == nThresMin)
{
m_DAT_stPara.nGradThresMin = nThresMin;
break;
}
}
else
{
//不处理
}
}
//20161113Whao，更新梯度分割阈值
m_DAT_stPara.nGradThresMin = nThresMin;
}
/**********************************************************
* 函数名称：DAT_CalcTgBgDiff()
* 功能描述：计算目标背景差异图
* 输入参数：UINT16 *pFrame -- 输入图像
* SIZE32S snImgSize -- 输入图像尺寸
* SINT32 *pnIntImg -- 输入图像积分图
* SIZE32S snIntImgSize-- 积分图尺寸
* SINT32 nRadius -- 邻域半径
* SINT32 nRadiusTG -- 目标半径
* SINT32 nThresMin -- 分割阈值下限
* 输出参数：UBYTE8 *pnBinary -- 二值化图像
* 返 回 值：无
* 调用关系：无
* 其它说明：在输入图像上，查找与邻域背景均值差异满足阈值的点，作为二值化分割点。
* 1）减少计算复杂度：边界不处理，将有效计算区域向内缩小邻域矩形块半径（nRadius）个像素。
* 2）利用积分图g，求(m,n)、(i,j)所成矩形内的像素值累加和：
* RectSum = g(m,n) - g(m,j)
* -g(i,n) + g(i,j)
* 3）固定分割阈值：为nThresMin
* 4）输入图像(i,j)点，对应于积分图像上的(i+1,j+1)点。
**********************************************************/
void DetectAreaObj::DAT_CalcTgBgDiff(UINT16* pFrame, SIZE32S snImgSize,
SINT32* pnIntImg, SIZE32S snIntImgSize,
SINT32 nRadius, SINT32 nRadiusTG,
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
SINT32* pnTgBgDiff)
S3315板端测试后状态
11 months ago
{
SINT32 i, j;
SINT32 nBorder = 1; //不处理的边界大小
SINT32 nUnvalid = nRadius + nBorder;//无效区域（不处理）的总大小
SINT32 nDiameter = 2 * nRadius + 1; //邻域直径
SINT32 nTGSize = (2 * nRadiusTG + 1) * (2 * nRadiusTG + 1); //目标矩形像素个数
SINT32 nBlkSize = nDiameter * nDiameter - nTGSize; //邻域矩形像素个数（去除目标矩形）
SINT32 nLine = 0; //当前点行起始坐标（输入图像、二值化图像）
SINT32 nBlkFirstLn = 0; //邻域起始行坐标（积分图）
SINT32 nBlkLastLn = 0; //邻域末尾行坐标（积分图）
SINT32 nTGFirstLn = 0; //目标起始行坐标（积分图）
SINT32 nTGLastLn = 0; //目标末尾行坐标（积分图）
SINT32 nCurrId = 0; //当前点图像坐标（输入图像、二值化图像）
SINT32 nCurrValue = 0; //当前像素值（输入图像）
SINT32 nBlkMean = 0; //邻域均值（积分图）
SINT32 nTGSum = 0; //目标像素值之和（积分图）
SINT32 nTGMean = 0; //目标均值（积分图）
SINT32 nImgMean = 0; //图像均值（输入图像）
MINMAXRECT32S mrnRectValid; //有效计算区域矩形
MINMAXRECT32S mrnIntBlkRect;//邻域块矩形（积分图）
MINMAXRECT32S mrnIntTGRect; //目标矩形（积分图）
//20161113Whao，计算的总有效点数
//UBYTE8 nIter = 0; //迭代次数
//SINT32 nTotalPnts = 0; //总的点数
//SINT32 nValidPnts = 0; //二値化为1的有效点数
//FLOAT32 fValidRatio = 0.0f; //二值分割后的有效点占比
//20161114Whao，计算邻域上下左右均值
SINT32 nBlkMeanUp = 0; //上邻域均值
SINT32 nBlkMeanDown = 0; //上邻域均值
SINT32 nBlkMeanLeft = 0; //上邻域均值
SINT32 nBlkMeanRight = 0; //上邻域均值
SINT32 nBlkSizeUp = 0; //上邻域矩形像素个数
SINT32 nBlkSizeDown = 0; //上邻域矩形像素个数
SINT32 nBlkSizeLeft = 0; //上邻域矩形像素个数
SINT32 nBlkSizeRight = 0; //上邻域矩形像素个数
SINT32 BlkMeanArray[4] = { 0 };
SINT32* pnBlkMeanArray = BlkMeanArray;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算全图均值
nImgMean = pnIntImg[snIntImgSize.s - 1] / snImgSize.s;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算有效区域矩形
mrnRectValid.minX = nUnvalid;
mrnRectValid.maxX = snImgSize.w - 1 - nUnvalid;
mrnRectValid.minY = nUnvalid;
mrnRectValid.maxY = snImgSize.h - 1 - nUnvalid;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化背景邻域块矩形、起始及末尾行坐标
mrnIntBlkRect.minY = mrnRectValid.minY - nRadius;
mrnIntBlkRect.maxY = mrnRectValid.minY + 1 + nRadius;
mrnIntBlkRect.minX = mrnRectValid.minX - nRadius;
mrnIntBlkRect.maxX = mrnRectValid.minX + 1 + nRadius;
nBlkFirstLn = mrnIntBlkRect.minY * snIntImgSize.w;
nBlkLastLn = mrnIntBlkRect.maxY * snIntImgSize.w;
//初始化目标矩形、起始及末尾行坐标
mrnIntTGRect.minY = mrnRectValid.minY - nRadiusTG;
mrnIntTGRect.maxY = mrnRectValid.minY + 1 + nRadiusTG;
mrnIntTGRect.minX = mrnRectValid.minX - nRadiusTG;
mrnIntTGRect.maxX = mrnRectValid.minX + 1 + nRadiusTG;
nTGFirstLn = mrnIntTGRect.minY * snIntImgSize.w;
nTGLastLn = mrnIntTGRect.maxY * snIntImgSize.w;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//在梯度图上，查找与邻域背景均值差异满足阈值的点，作为二值化特征点。
//注：积分图pnIntImg比原始图像pnImg扩大了1行（上侧）、1列（左侧），
nLine = mrnRectValid.minY * snImgSize.w;
//20161115，上下左右邻域点个数仅计算一次
nBlkSizeUp = (mrnIntTGRect.minY - mrnIntBlkRect.minY)
* (mrnIntTGRect.maxX - mrnIntTGRect.minX);
nBlkSizeDown = nBlkSizeUp;
nBlkSizeLeft = nBlkSizeUp;
nBlkSizeRight = nBlkSizeUp;
//20161115，计算目标背景残差图
for (i = mrnRectValid.minY; i <= mrnRectValid.maxY; i++)
{
for (j = mrnRectValid.minX; j <= mrnRectValid.maxX; j++)
{
//当前点坐标、像素值（输入图像、二值化图像）
nCurrId = nLine + j;
nCurrValue = pFrame[nCurrId];
//计算上背景邻域
nBlkMeanUp = pnIntImg[nBlkFirstLn + mrnIntTGRect.minX]
- pnIntImg[nTGFirstLn + mrnIntTGRect.minX]
- pnIntImg[nBlkFirstLn + mrnIntTGRect.maxX]
+ pnIntImg[nTGFirstLn + mrnIntTGRect.maxX];
nBlkMeanUp = nBlkMeanUp / nBlkSizeUp;
pnBlkMeanArray[0] = nBlkMeanUp;
//计算下背景邻域 ok
nBlkMeanDown = pnIntImg[nTGLastLn + mrnIntTGRect.minX]
- pnIntImg[nTGLastLn + mrnIntTGRect.maxX]
- pnIntImg[nBlkLastLn + mrnIntTGRect.minX]
+ pnIntImg[nBlkLastLn + mrnIntTGRect.maxX];
nBlkMeanDown = nBlkMeanDown / nBlkSizeDown;
pnBlkMeanArray[1] = nBlkMeanDown;
//计算左背景邻域 ok
nBlkMeanLeft = pnIntImg[nTGFirstLn + mrnIntBlkRect.minX]
- pnIntImg[nTGFirstLn + mrnIntTGRect.minX]
- pnIntImg[nTGLastLn + mrnIntBlkRect.minX]
+ pnIntImg[nTGLastLn + mrnIntTGRect.minX];
nBlkMeanLeft = nBlkMeanLeft / nBlkSizeLeft;
pnBlkMeanArray[2] = nBlkMeanLeft;
//计算右背景邻域 ok
nBlkMeanRight = pnIntImg[nTGFirstLn + mrnIntTGRect.maxX]
- pnIntImg[nTGFirstLn + mrnIntBlkRect.maxX]
- pnIntImg[nTGLastLn + mrnIntTGRect.maxX]
+ pnIntImg[nTGLastLn + mrnIntBlkRect.maxX];
nBlkMeanRight = nBlkMeanRight / nBlkSizeRight;
pnBlkMeanArray[3] = nBlkMeanRight;
//20161114，排序取次小值
if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
nBlkMean = FindMinOfFour(pnBlkMeanArray);
}
else if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
// 20171016zy: 仅筛选特别亮的点
nBlkMean = FindMaxOfFour(pnBlkMeanArray);
}
else
{
//不处理
}
pnTgBgDiff[nCurrId] = nCurrValue - nBlkMean;
//更新邻域块矩形（积分图）X坐标范围
mrnIntBlkRect.minX++;
mrnIntBlkRect.maxX++;
//更新目标矩形（积分图）X坐标范围
mrnIntTGRect.minX++;
mrnIntTGRect.maxX++;
}
//更新当前点行起始坐标（输入图像、二值化图像）
nLine += snImgSize.w;
//邻域块矩形（积分图）Y坐标范围、X坐标范围
mrnIntBlkRect.minY++;
mrnIntBlkRect.maxY++;
mrnIntBlkRect.minX = mrnRectValid.minX - nRadius;
mrnIntBlkRect.maxX = mrnRectValid.minX + 1 + nRadius;
nBlkFirstLn = mrnIntBlkRect.minY * snIntImgSize.w;
nBlkLastLn = mrnIntBlkRect.maxY * snIntImgSize.w;
//目标矩形（积分图）Y坐标范围、X坐标范围
mrnIntTGRect.minY++;
mrnIntTGRect.maxY++;
mrnIntTGRect.minX = mrnRectValid.minX - nRadiusTG;
mrnIntTGRect.maxX = mrnRectValid.minX + 1 + nRadiusTG;
nTGFirstLn += snIntImgSize.w;
nTGLastLn += snIntImgSize.w;
}
}
/**********************************************************
* 函数名称：DAT_GraySegmentation()
* 功能描述：灰度分割
* 输入参数：UINT16 *pFrame -- 输入图像
* SIZE32S snImgSize -- 输入图像尺寸
* SINT32 *pnIntImg -- 输入图像积分图
* SIZE32S snIntImgSize-- 积分图尺寸
* SINT32 nRadius -- 邻域半径
* SINT32 nRadiusTG -- 目标半径
* SINT32 nThresMin -- 分割阈值下限
* 输出参数：UBYTE8 *pnBinary -- 二值化图像
* 返 回 值：无
* 调用关系：无
* 其它说明：在输入图像上，查找与邻域背景均值差异满足阈值的点，作为二值化分割点。
* 1）减少计算复杂度：边界不处理，将有效计算区域向内缩小邻域矩形块半径（nRadius）个像素。
* 2）利用积分图g，求(m,n)、(i,j)所成矩形内的像素值累加和：
* RectSum = g(m,n) - g(m,j)
* -g(i,n) + g(i,j)
* 3）固定分割阈值：为nThresMin
* 4）输入图像(i,j)点，对应于积分图像上的(i+1,j+1)点。
**********************************************************/
void DetectAreaObj::DAT_GraySegmentation(SIZE32S snImgSize, SINT32 nRadius, SINT32 nThresMin,
1.主跟踪目标后的背景管道输出抑制 2.四邻域提取取像素位置bug修复 3.默认打开面目标检测，增加跟踪稳定性 4.面目标检测灰度类型参数全局与局部保持一致 5.灰度分割灰度残差图无符号16位改为32位，避免溢出
4 months ago
UBYTE8* pnBinary, SINT32* pnTgBgDiff, BBOOL changeDetParam)
S3315板端测试后状态
11 months ago
{
SINT32 i, j;
SINT32 nBorder = 1; //不处理的边界大小
SINT32 nUnvalid = nRadius + nBorder;//无效区域（不处理）的总大小
SINT32 nLine = 0; //当前点行起始坐标（输入图像、二值化图像）
SINT32 nCurrId = 0; //当前点图像坐标（输入图像、二值化图像）
MINMAXRECT32S mrnRectValid; //有效计算区域矩形
SINT16 nMaxIters = DAT_MAX_SEG_TIMES; //最大迭代次数
//20161113Whao，计算的总有效点数
UBYTE8 nIter = 0; //迭代次数
SINT32 nTotalPnts = 0; //总的点数
SINT32 nValidPnts = 0; //二値化为1的有效点数
FLOAT32 fValidRatio = 0.0f; //二值分割后的有效点占比
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//计算有效区域矩形
mrnRectValid.minX = nUnvalid;
mrnRectValid.maxX = snImgSize.w - 1 - nUnvalid;
mrnRectValid.minY = nUnvalid;
mrnRectValid.maxY = snImgSize.h - 1 - nUnvalid;
//20161113Whao，计算的总有效点数
nTotalPnts = (mrnRectValid.maxY - mrnRectValid.minY + 1) * (mrnRectValid.maxX - mrnRectValid.minX + 1);
nLine = mrnRectValid.minY * snImgSize.w;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//在梯度图上，查找与邻域背景均值差异满足阈值的点，作为二值化特征点。
//注：积分图pnIntImg比原始图像pnImg扩大了1行（上侧）、1列（左侧），
//20161113Whao，增加最大迭代次数和有效点占比判断
for (nIter = 0; nIter < nMaxIters; nIter++)
{
//20161113，重置二値化结果数组
memset(pnBinary, 0, sizeof(UBYTE8) * DAT_CENTER_REGION_SIZE);
nValidPnts = 0;
nLine = mrnRectValid.minY * snImgSize.w;
for (i = mrnRectValid.minY; i <= mrnRectValid.maxY; i++)
{
for (j = mrnRectValid.minX; j <= mrnRectValid.maxX; j++)
{
//当前点坐标、像素值（输入图像、二值化图像）
nCurrId = nLine + j;
//将灰度值比背景均值大nThresMin的像素标记为显著点
//MSSu, 20150513: 面目标增加暗目标检测模式
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
if (pnTgBgDiff[nCurrId] > nThresMin)
{
pnBinary[nCurrId] = DAT_FLAG_BINARY;
nValidPnts++;
}
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
if (pnTgBgDiff[nCurrId] < -nThresMin)
{
pnBinary[nCurrId] = DAT_FLAG_BINARY; //DAT_FLAG_BINARY_DARK;
nValidPnts++;
}
}
else
{
//if (ABS(nCurrValue - nBlkMean) > nThresMin)
//{
// pnBinary[nCurrId] = DAT_FLAG_BINARY;
//}
//不处理
}
}
//更新当前点行起始坐标（输入图像、二值化图像）
nLine += snImgSize.w;
}
//跟踪状态不调整分割阈值(老版本)
//==========20171017zy: 跟踪状态下，也进行分割阈值的调整，注释下面=============
//if (GLB_STATUS_TRACK == m_GLB_stPara.nStatus)
//{
// break;
//}
// 20171107zy: 添加超大面目标限制，超不面目标不进行有效点判断
//20161113Whao，如果有效点数在阈值范围内跳出，否则调整分割阈值
合入基线更新
6 months ago
if (false == changeDetParam)
{
continue;
}
S3315板端测试后状态
11 months ago
fValidRatio = (FLOAT32)nValidPnts / (FLOAT32)nTotalPnts;
if (fValidRatio > DAT_MIN_GRAY_SEG_RATIO && fValidRatio < DAT_MAX_GRAY_SEG_RATIO)
{
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
m_DAT_stPara.nGrayThresMinBright = nThresMin;
}
else
{
m_DAT_stPara.nGrayThresMinDark = nThresMin;
}
break;
}
else if (fValidRatio < DAT_MIN_GRAY_SEG_RATIO)
{
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
nThresMin = (SINT32)(0.7 * nThresMin + 0.3 * DAT_GRAY_THRES_BRIGHT_MIN);
nThresMin = MAX(nThresMin, DAT_GRAY_THRES_BRIGHT_MIN);
if (DAT_GRAY_THRES_BRIGHT_MIN == nThresMin)
{
m_DAT_stPara.nGrayThresMinBright = nThresMin;
}
}
else
{
nThresMin = (SINT32)(0.7 * nThresMin + 0.3 * DAT_GRAY_THRES_DARK_MIN);
nThresMin = MAX(nThresMin, DAT_GRAY_THRES_DARK_MIN);
if (DAT_GRAY_THRES_DARK_MIN == nThresMin)
{
m_DAT_stPara.nGrayThresMinDark = nThresMin;
}
}
break;
}
else if (fValidRatio > DAT_MAX_GRAY_SEG_RATIO)
{
//nThresMin = (nThresMin + DAT_GRAY_THRES_MAX) / 2;
// 20171016zy 修改迭代阈值的变化比例
nThresMin = (SINT32)(0.7 * nThresMin + 0.3 * DAT_GRAY_THRES_MAX);
nThresMin = MIN(nThresMin, DAT_GRAY_THRES_MAX);
if (DAT_GRAY_THRES_MAX == nThresMin)
{
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
m_DAT_stPara.nGrayThresMinBright = nThresMin;
}
else
{
m_DAT_stPara.nGrayThresMinDark = nThresMin;
}
break;
}
}
else
{
//不处理
}
}
合入基线更新
6 months ago
if (true == changeDetParam)
S3315板端测试后状态
11 months ago
{
合入基线更新
6 months ago
//20161113Whao，更新亮暗目标分割阈值
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
m_DAT_stPara.nGrayThresMinBright = nThresMin;
}
else
{
m_DAT_stPara.nGrayThresMinDark = nThresMin;
}
S3315板端测试后状态
11 months ago
}
}
/**********************************************************
* 函数名称：DAT_ObjsSegmentation()
* 功能描述：目标分割
* 输入参数：UINT16 *pFrame -- 原始图像（降采样后）
* UBYTE8 *pnGrayBinary -- 灰度二值图（降采样后）
* UBYTE8 *pnGradBinary -- 梯度二值图（降采样后）
* SIZE32S snImgSize -- 输入图像尺寸（降采样后）
* SINT32 *pnGrayInt -- 灰度积分图
* SINT32 *pnGradInt -- 梯度积分图
* SIZE32S snIntSize -- 积分图尺寸
* SIZE32S snBlksNum -- 分块个数
* SINT32 nDSmpScale -- 降采样倍数
* MINMAXRECT32S mrnSrRect -- 搜索区域矩形（原始图像）
* SINT32 nFrmObjsMax -- 单帧检测目标的最大个数
* 输出参数：TARGET_OBJECT *ptTargetArray-- 当前帧目标检测结果数组
* 返 回 值：SINT32 nObjsCnt -- 单帧检测的目标数量
* 调用关系：无
* 其它说明：在2倍降采样图像上检测目标，再还原回原始图像位置及大小。
**********************************************************/
SINT32 DetectAreaObj::DAT_ObjsSegmentation(UINT16* pFrame, UBYTE8* pnGrayBinary,
UBYTE8* pnGradBinary, SIZE32S snImgSize,
SINT32* pnGrayInt, SINT32* pnGradInt, SIZE32S snIntSize,
SIZE32S snBlksNum, SINT32 nDSmpScale, MINMAXRECT32S mrnSrRect,
TARGET_OBJECT* ptTargetArray, SINT32 nFrmObjsMax, GD_PIXEL_FORMAT_E enPixelFormat)
{
MINMAXRECT32S* pmrnBlksRect = (MINMAXRECT32S*)DAT_pmrnBlksRect;
UBYTE8* pnFlagHasSr = (UBYTE8*)DAT_pFlagHasSearch;
SINT32 k, i, j;
SINT32 nObjsCnt = 0;
SIZE32S snBlksNumNew = snBlksNum;
MINMAXRECT32S mrnRect;
SINT32 nLine, nIndex;
TARGET_OBJECT tTarget; //记录单个目标
//BBOOL bSuccessFlag = FALSE;
//BBOOL bStop = FALSE;
BBOOL bTarget = FALSE;
FLOAT32 fDSmpRatio = 1.0f / (nDSmpScale * nDSmpScale);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化
memset(ptTargetArray, 0, nFrmObjsMax * sizeof(TARGET_OBJECT));
memset(pnFlagHasSr, 0, snImgSize.s * sizeof(UBYTE8));
//限制更新分块个数为奇数
snBlksNumNew.w = (0 == snBlksNumNew.w % 2) ? snBlksNumNew.w + 1 : snBlksNumNew.w;
snBlksNumNew.w = MIN(snBlksNumNew.w, DAT_SR_RGN_BLKS_NUM_W);
snBlksNumNew.h = snBlksNumNew.w;
snBlksNumNew.s = snBlksNumNew.w * snBlksNumNew.h;
m_DAT_stInput.snSrBlksNum = snBlksNumNew;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//对搜索区域进行分块
//分块的目的：因目标个数有限制，优先检测图像中心的目标
DAT_SetSearchBlks(snImgSize, snBlksNumNew, pmrnBlksRect);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标分割（优先检测图像中心块）
for (k = 0; k < snBlksNumNew.s; k++)
{
mrnRect = pmrnBlksRect[k];
nLine = mrnRect.minY * snImgSize.w;
for (i = mrnRect.minY; i <= mrnRect.maxY; i++)
{
for (j = mrnRect.minX; j <= mrnRect.maxX; j++)
{
//计算当前像素坐标
nIndex = nLine + j;
//MSSu, 20150514: 弱目标检测时，灰度、梯度二值点取并集，否则取交集
BBOOL bSeedPt = FALSE;
近期修改
3 months ago
if ((DAT_FLAG_BINARY == pnGrayBinary[nIndex]
通过运动模型判断是否稳跟。
3 months ago
&& DAT_FLAG_BINARY == pnGradBinary[nIndex])
S3315板端测试后状态
11 months ago
&& DAT_FLAG_CONNECTED != pnFlagHasSr[nIndex])
{
bSeedPt = TRUE;
}
//若当前点为二值化点，且未被归类，则将其作为种子点，进行连通域搜索
if (bSeedPt)
{
//目标初始化为空
memset(&tTarget, 0, sizeof(TARGET_OBJECT));
bTarget = FALSE;
//区域连通
//MSSu, 20150608: 连通像素个数阈值*0.8，目的：防止计算量过大。
DAT_GetConnectedArea(pFrame, pnGrayBinary, pnGradBinary,
pnFlagHasSr, snImgSize.w, snImgSize.h, j, i,
(SINT32)(m_DAT_stPara.nObjSizeMax * fDSmpRatio * 0.8), &tTarget);
//目标确认
bTarget = DAT_IsTarget(pFrame, snImgSize, pnGrayInt,
pnGradInt, snIntSize, &tTarget, enPixelFormat);
//若确认为目标，则加入面目标数组
if (bTarget)
{
//标记为真实目标
tTarget.bObject = TRUE;
//记录帧编号 (全局耦合)
//tTarget.unFrmID = m_GLB_stInput.stParaLn.unFrmId;
// 适应目标识别算法的加入，传统检测无法获取目标类型，此处约定目标类别ID置为DT_TARGET_CLS_ID，置信度为1
tTarget.unClsType = DT_TARGET_CLS_ID;
tTarget.fDetConf = 1.0;
tTarget.nObjTypeSrc = ObjSrc::Arith_DAT;
//更新目标位置，还原到原始图像坐标系
tTarget.pfCenPos.x = (tTarget.pfCenPos.x) * nDSmpScale + mrnSrRect.minX + (nDSmpScale >> 1);
tTarget.pfCenPos.y = (tTarget.pfCenPos.y) * nDSmpScale + mrnSrRect.minY + (nDSmpScale >> 1);
tTarget.pnMaxPos.x = (SINT16)(tTarget.pnMaxPos.x * nDSmpScale + mrnSrRect.minX);
tTarget.pnMaxPos.y = (SINT16)(tTarget.pnMaxPos.y * nDSmpScale + mrnSrRect.minY);
tTarget.mrnRect.minX = tTarget.mrnRect.minX * nDSmpScale + mrnSrRect.minX;
//tTarget.mrnRect.maxX = tTarget.mrnRect.maxX * nDSmpScale + mrnSrRect.minX;
//20161207，还原回去最小值指向原始长度的第一个点，最大值指向原始长度的最后一个点
tTarget.mrnRect.maxX = tTarget.mrnRect.maxX * nDSmpScale + mrnSrRect.minX + nDSmpScale - 1;
tTarget.mrnRect.minY = tTarget.mrnRect.minY * nDSmpScale + mrnSrRect.minY;
//tTarget.mrnRect.maxY = tTarget.mrnRect.maxY * nDSmpScale + mrnSrRect.minY;
tTarget.mrnRect.maxY = tTarget.mrnRect.maxY * nDSmpScale + mrnSrRect.minY + nDSmpScale - 1;
//更新目标大小
tTarget.snSize.w *= nDSmpScale;
tTarget.snSize.h *= nDSmpScale;
tTarget.snSize.s *= (nDSmpScale * nDSmpScale);
tTarget.unObjPxlsCnt *= (nDSmpScale * nDSmpScale);
//标记目标类型
tTarget.nObjTypeSize = GLB_OBJ_SIZE_FACE;
tTarget.nObjTypeGray = (tTarget.fSNR > 0.0f) ? GLB_OBJ_GRAY_BRIGHT : GLB_OBJ_GRAY_DARK;
// //计算目标的方位角、俯仰角 (全局耦合)
// tTarget.afAngle.fAz = SERVO_CalcObjAzimuth(tTarget.pfCenPos.x,
// m_GLB_stInput.stParaLn.snImgSize.w,
// m_SERVO_stInput.fAzimuth, m_SERVO_stInput.fResolAz);
// tTarget.afAngle.fPt = SERVO_CalcObjPitching(tTarget.pfCenPos.y,
// m_GLB_stInput.stParaLn.snImgSize.h,
// m_SERVO_stInput.fPitching, m_SERVO_stInput.fResolPt);
//将目标加入单帧目标数组
ptTargetArray[nObjsCnt] = tTarget;
nObjsCnt++;
//目标个数达上限，则终止检测
if (nFrmObjsMax == nObjsCnt)
{
return nObjsCnt;
}
}
}
}
//更新下一行起始坐标
nLine += snImgSize.w;
}
//目标个数达上限，则终止检测
if (nObjsCnt > nFrmObjsMax)
{
break;
}
}
return nObjsCnt;
}
/**********************************************************
* 函数名称：DAT_SetSearchBlks()
* 功能描述：对搜索区域进行分块，将最中心的块放在数组首位
* 输入参数：SIZE32S snImgSize -- 输入图像尺寸（降采样后）
* SIZE32S snBlksNum -- 分块个数
* 输出参数：MINMAXRECT32S *pmrnBlksRect -- 分块矩形坐标数组
* 返 回 值：无
* 调用关系：无
* 其它说明：3*3分块顺序： 5*5分块顺序：
* 5 1 6 21 13 9 14 22
* 4 0 2 20 5 1 6 15
* 8 3 7 12 4 0 2 10
* 19 8 3 7 16
* 24 18 11 17 23
* 更多块排序效果，参见：SVN\Arith_Object_Detect_Recognise\S231-光电跟踪系统
* \trunk\src\S231_matlab_BlksSort\BlksSort.m
**********************************************************/
void DetectAreaObj::DAT_SetSearchBlks(SIZE32S snImgSize, SIZE32S snBlksNum, MINMAXRECT32S* pmrnBlksRect)
{
SINT32 i, j, k;
SINT32 nBlkId;
SINT32 nBlkWidth = snImgSize.w / snBlksNum.w;//分块宽度
SINT32 nBlkHeight = snImgSize.h / snBlksNum.h;//分块高度
SINT32 nCenBiggerW = nBlkWidth / 4; //中间分块扩大比例
SINT32 nCenBiggerH = nBlkHeight / 4; //中间分块扩大比例
SINT32 nCenBlkW = nBlkWidth + nCenBiggerW; //中间分块宽度
SINT32 nCenBlkH = nBlkHeight + nCenBiggerH; //中间分块高度
SINT32 nOtherBlksW = (snImgSize.w - nCenBlkW) / (snBlksNum.w - 1); //其它分块宽度
SINT32 nOtherBlksH = (snImgSize.h - nCenBlkH) / (snBlksNum.h - 1); //其它分块宽度
SINT32 nCenBlkIdX = snBlksNum.w / 2; //中间分块位置X
SINT32 nCenBlkIdY = snBlksNum.h / 2; //中间分块位置Y
MINMAXRECT32S mrnRectTop, mrnRectBottom, mrnRectLeft, mrnRectRight;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//第0子块（正中间）
pmrnBlksRect[0].minY = MAX(0, MIN(nCenBlkIdY * nOtherBlksH, snImgSize.h - 1));
pmrnBlksRect[0].maxY = MAX(0, MIN(snImgSize.h - pmrnBlksRect[0].minY, snImgSize.h - 1));
pmrnBlksRect[0].minX = MAX(0, MIN(nCenBlkIdX * nOtherBlksW, snImgSize.w - 1));
pmrnBlksRect[0].maxX = MAX(0, MIN(snImgSize.w - pmrnBlksRect[0].minX, snImgSize.w - 1));
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//其它分块：从中间向外扩展
nBlkId = 1;
for (k = 1; k <= nCenBlkIdX; k++)
{
//------------------------------
//正上方
i = nCenBlkIdY - k;
j = nCenBlkIdX;
mrnRectTop.minY = MAX(pmrnBlksRect[0].minY - k * nOtherBlksH, 0);
mrnRectTop.maxY = MAX(mrnRectTop.minY + nOtherBlksH - 1, 0);
mrnRectTop.minX = pmrnBlksRect[0].minX;
mrnRectTop.maxX = pmrnBlksRect[0].maxX;
pmrnBlksRect[nBlkId] = mrnRectTop;
nBlkId++;
//正右方
i = nCenBlkIdY;
j = nCenBlkIdX + k;
mrnRectRight.minY = pmrnBlksRect[0].minY;
mrnRectRight.maxY = pmrnBlksRect[0].maxY;
mrnRectRight.minX = MIN(pmrnBlksRect[0].maxX + (k - 1) * nOtherBlksW + 1, snImgSize.w - 1);
mrnRectRight.maxX = MIN(mrnRectRight.minX + nOtherBlksW - 1, snImgSize.w - 1);
if (k == nCenBlkIdX)
{
mrnRectRight.maxX = snImgSize.w - 1;
}
pmrnBlksRect[nBlkId] = mrnRectRight;
nBlkId++;
//正下方
i = nCenBlkIdY + k;
j = nCenBlkIdX;
mrnRectBottom.minY = MIN(pmrnBlksRect[0].maxY + (k - 1) * nOtherBlksH + 1, snImgSize.h - 1);
mrnRectBottom.maxY = MIN(mrnRectBottom.minY + nOtherBlksH - 1, snImgSize.h - 1);
mrnRectBottom.minX = pmrnBlksRect[0].minX;
mrnRectBottom.maxX = pmrnBlksRect[0].maxX;
if (k == nCenBlkIdX)
{
mrnRectBottom.maxY = snImgSize.h - 1;
}
pmrnBlksRect[nBlkId] = mrnRectBottom;
nBlkId++;
//正左方
i = nCenBlkIdY;
j = nCenBlkIdX - k;
mrnRectLeft.minY = pmrnBlksRect[0].minY;
mrnRectLeft.maxY = pmrnBlksRect[0].maxY;
mrnRectLeft.minX = MAX(pmrnBlksRect[0].minX - k * nOtherBlksW, 0);
mrnRectLeft.maxX = MAX(mrnRectLeft.minX + nOtherBlksW - 1, 0);
pmrnBlksRect[nBlkId] = mrnRectLeft;
nBlkId++;
//------------------------------
//其它
for (j = 1; j < k; j++)
{
//上行其它列（左右对称）
pmrnBlksRect[nBlkId].minY = mrnRectTop.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectTop.maxY;
pmrnBlksRect[nBlkId].minX = pmrnBlksRect[0].minX - j * nOtherBlksW;
pmrnBlksRect[nBlkId].maxX = pmrnBlksRect[nBlkId].minX + nOtherBlksW - 1;
nBlkId++;
pmrnBlksRect[nBlkId].minY = mrnRectTop.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectTop.maxY;
pmrnBlksRect[nBlkId].minX = pmrnBlksRect[0].maxX + (j - 1) * nOtherBlksW + 1;
pmrnBlksRect[nBlkId].maxX = pmrnBlksRect[nBlkId].minX + nOtherBlksW - 1;
nBlkId++;
//右列其它行（上下对称）
pmrnBlksRect[nBlkId].minY = mrnRectRight.minY - j * nOtherBlksH;
pmrnBlksRect[nBlkId].maxY = pmrnBlksRect[nBlkId].minY + nOtherBlksH - 1;
pmrnBlksRect[nBlkId].minX = mrnRectRight.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectRight.maxX;
nBlkId++;
pmrnBlksRect[nBlkId].minY = mrnRectRight.maxY + (j - 1) * nOtherBlksH + 1;
pmrnBlksRect[nBlkId].maxY = pmrnBlksRect[nBlkId].minY + nOtherBlksH - 1;
pmrnBlksRect[nBlkId].minX = mrnRectRight.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectRight.maxX;
nBlkId++;
//下行其它列（左右对称）
pmrnBlksRect[nBlkId].minY = mrnRectBottom.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectBottom.maxY;
pmrnBlksRect[nBlkId].minX = pmrnBlksRect[0].maxX + (j - 1) * nOtherBlksW + 1;
pmrnBlksRect[nBlkId].maxX = pmrnBlksRect[nBlkId].minX + nOtherBlksW - 1;
nBlkId++;
pmrnBlksRect[nBlkId].minY = mrnRectBottom.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectBottom.maxY;
pmrnBlksRect[nBlkId].minX = pmrnBlksRect[0].minX - j * nOtherBlksW;
pmrnBlksRect[nBlkId].maxX = pmrnBlksRect[nBlkId].minX + nOtherBlksW - 1;
nBlkId++;
//左列其它行（上下对称）
pmrnBlksRect[nBlkId].minY = mrnRectLeft.maxY + (j - 1) * nOtherBlksH + 1;
pmrnBlksRect[nBlkId].maxY = pmrnBlksRect[nBlkId].minY + nOtherBlksH - 1;
pmrnBlksRect[nBlkId].minX = mrnRectLeft.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectLeft.maxX;
nBlkId++;
pmrnBlksRect[nBlkId].minY = mrnRectLeft.minY - j * nOtherBlksH;
pmrnBlksRect[nBlkId].maxY = pmrnBlksRect[nBlkId].minY + nOtherBlksH - 1;
pmrnBlksRect[nBlkId].minX = mrnRectLeft.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectLeft.maxX;
nBlkId++;
}
//------------------------------
//左上角
pmrnBlksRect[nBlkId].minY = mrnRectTop.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectTop.maxY;
pmrnBlksRect[nBlkId].minX = mrnRectLeft.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectLeft.maxX;
nBlkId++;
//右上角
pmrnBlksRect[nBlkId].minY = mrnRectTop.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectTop.maxY;
pmrnBlksRect[nBlkId].minX = mrnRectRight.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectRight.maxX;
nBlkId++;
//右下角
pmrnBlksRect[nBlkId].minY = mrnRectBottom.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectBottom.maxY;
pmrnBlksRect[nBlkId].minX = mrnRectRight.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectRight.maxX;
nBlkId++;
//左下角
pmrnBlksRect[nBlkId].minY = mrnRectBottom.minY;
pmrnBlksRect[nBlkId].maxY = mrnRectBottom.maxY;
pmrnBlksRect[nBlkId].minX = mrnRectLeft.minX;
pmrnBlksRect[nBlkId].maxX = mrnRectLeft.maxX;
nBlkId++;
}
}
/**********************************************************
* 函数名称：DAT_GetConnectedArea()
* 功能描述：对每个种子点进行区域连通，得到1个目标
* 输入参数：UINT16 *pFrame -- 输入待区域连通的图像
* UBYTE8 *pnGrayBi -- 输入图像的二值化结果
* UBYTE8 *pnFlagHasSr -- 标记每个像素点是否被归类的图像
* SINT32 nWidth -- 输入图像宽度
* SINT32 nHeight -- 输入图像高度
* SINT32 nSeedX -- 种子点的X坐标
* SINT32 nSeedY -- 种子点的Y坐标
* SINT32 nPxlsThresMax -- 最大像素个数阈值
* 输出参数：TARGET_OBJECT *ptTarget -- 目标像素阈值下限
* 返 回 值：无
* 调用关系：无
* 其它说明：无
**********************************************************/
void DetectAreaObj::DAT_GetConnectedArea(UINT16* pFrame, UBYTE8* pnGrayBi, UBYTE8* pnGradBi,
UBYTE8* pnFlagHasSr, SINT32 nWidth, SINT32 nHeight,
SINT32 nSeedX, SINT32 nSeedY, SINT32 nPxlsThresMax,
TARGET_OBJECT* ptTarget)
{
SINT16* pnGrowQueX = (SINT16*)DAT_fGradX;
SINT16* pnGrowQueY = (SINT16*)DAT_fGradY;
SINT32 i, j, xx, yy;
SINT32 nStart = 0; //定义堆栈的起点和终点/当nStart=nEnd, 表示堆栈中只有一个点
SINT32 nEnd = 0;
SINT32 nFilterHalf = 1;
BBOOL bConnAdd = FALSE;
//UBYTE8 *pBinaryValue = NULL;
UBYTE8* pFlagSearch = NULL;
SINT32 nPos = 0;
SINT32 nSeedPos = nSeedY * nWidth + nSeedX;
SINT32 nGraySum = pFrame[nSeedPos];
UINT16 nGrayMax = pFrame[nSeedPos];
POINT32F pfCenPos = { 0 };
POINT16S pnMaxPos = { 0 };
//OBJECTSNR objSNR = {0};
//MINMAXRECT32S mrnObj = {0};
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//1.把种子点的坐标压入栈
pnGrowQueX[nEnd] = nSeedX;
pnGrowQueY[nEnd] = nSeedY;
//初始化
//pnGrayBi[nSeedPos] = 0;
pnFlagHasSr[nSeedPos] = DAT_FLAG_CONNECTED;
pfCenPos.x += nSeedX;
pfCenPos.y += nSeedY;
pnMaxPos.x = (SINT16)nSeedX;
pnMaxPos.y = (SINT16)nSeedY;
ptTarget->mrnRect.minX = ptTarget->mrnRect.maxX = nSeedX;
ptTarget->mrnRect.minY = ptTarget->mrnRect.maxY = nSeedY;
ptTarget->unObjPxlsCnt = 1;
ptTarget->pxObjGray = pFrame[nSeedPos];
ptTarget->pxObjMaxGray = pFrame[nSeedPos];
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//2.遍历栈
while (nStart <= nEnd)
{
//2.1.当前种子点的坐标
SINT32 nCurrX = pnGrowQueX[nStart];
SINT32 nCurrY = pnGrowQueY[nStart];
//2.3.对当前点的8邻域进行遍历
for (i = -nFilterHalf; i <= nFilterHalf; i++)
{
for (j = -nFilterHalf; j <= nFilterHalf; j++)
{
//2.3.1.获取8-邻域象素的坐标
xx = nCurrX + j;
yy = nCurrY + i;
//2.3.2.邻域搜索
if ((xx < nWidth)
&& (xx >= 0)
&& (yy < nHeight)
&& (yy >= 0)
&& !(0 == j && 0 == i))//不越界，且不为中心点
{
//2.3.2.1.获取指针
nPos = nWidth * yy + xx;
//pBinaryValue = pnGrayBi;
pFlagSearch = pnFlagHasSr;
//2.3.2.2.标记已搜索过的点
if (DAT_FLAG_CONNECTED == pFlagSearch[nPos])
{
continue;
}
else
{
pFlagSearch[nPos] = DAT_FLAG_CONNECTED;
}
//2.3.2.4.若该点为二值化点，或与最近已压栈点的灰度差小于阈值，则将该点加入栈
bConnAdd = FALSE;
if (DAT_FLAG_BINARY == pnGrayBi[nPos] /*|| DAT_FLAG_BINARY == pnGradBi[nPos]*/)
{
bConnAdd = TRUE;
}
// 横向
//if (j = -nFilterHalf || j <= nFilterHalf)
//{
// if()
//}
if (bConnAdd)
{
//堆栈的尾部指针后移一位
nEnd++;
//目标过大：栈将发生溢出,不再继续搜索该连通域
if (nEnd >= nPxlsThresMax)
{
goto EndConnect;
}
//2.3.2.4.3.把被归类的点从二值化点中清除
//MSSu, 20150409: 不清除
//pnGrayBi[nPos] = DAT_FLAG_NONBINARY;
//2.3.2.4.4.象素(xx，yy) 压入栈
pnGrowQueX[nEnd] = xx;
pnGrowQueY[nEnd] = yy;
//2.3.2.4.5.更新目标的边界
ptTarget->mrnRect.minY = MIN(ptTarget->mrnRect.minY, yy);
ptTarget->mrnRect.maxY = MAX(ptTarget->mrnRect.maxY, yy);
ptTarget->mrnRect.minX = MIN(ptTarget->mrnRect.minX, xx);
ptTarget->mrnRect.maxX = MAX(ptTarget->mrnRect.maxX, xx);
//2.3.2.4.6.目标形心、大小累计
pfCenPos.x += xx;
pfCenPos.y += yy;
//ptTarget->pfCenPos.x += xx;
//ptTarget->pfCenPos.y += yy;
//mww,计算目标灰度值,2014.06.13
nGraySum += pFrame[nPos];
// 面目标计算极值亮度
ptTarget->pxObjMaxGray = MAX(ptTarget->pxObjMaxGray, pFrame[nPos]);
//查找极值点
//20161112Whao，区分亮目标和暗目标
if (((GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType) && (pFrame[nPos] > nGrayMax))
|| ((GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType) && (pFrame[nPos] < nGrayMax)))
{
nGrayMax = pFrame[nPos];
pnMaxPos.x = xx;
pnMaxPos.y = yy;
}
//目标像素个数累加
ptTarget->unObjPxlsCnt++;
}//end of if(*pnGrayBi==255)...
}//end of if( (xx < nWidth) && (xx>=0) && (yy<nHeight) && (yy>=0) )...
}//end of for (j = -nFilterHalf; j <= nFilterHalf; j++)...
}//end of for (i = -nFilterHalf; i <= nFilterHalf; i++)...
//2.4.指向下一个当前点
nStart++;
}//end of while(nStart <= nEnd)...
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
EndConnect:
//3.计算目标形心、大小
if (ptTarget->unObjPxlsCnt > 0)
{
//计算目标形心
ptTarget->pfCenPos.x = pfCenPos.x / ptTarget->unObjPxlsCnt;
ptTarget->pfCenPos.y = pfCenPos.y / ptTarget->unObjPxlsCnt;
//计算目标极大值
ptTarget->pnMaxPos.x = (SINT16)pnMaxPos.x;
ptTarget->pnMaxPos.y = (SINT16)pnMaxPos.y;
//计算目标灰度均值
ptTarget->pxObjGray = (UINT16)(nGraySum / ptTarget->unObjPxlsCnt);
//计算目标宽高、大小（矩形面积）
ptTarget->snSize.w = ptTarget->mrnRect.maxX - ptTarget->mrnRect.minX + 1;
ptTarget->snSize.h = ptTarget->mrnRect.maxY - ptTarget->mrnRect.minY + 1;
ptTarget->snSize.s = ptTarget->snSize.h * ptTarget->snSize.w;
}
}
/**********************************************************
* 函数名称：DAT_IsTarget()
* 功能描述：目标确认
* 输入参数：UINT16 *pFrame -- 原始图像
* SIZE32S snImgSize -- 输入图像尺寸（降采样后）
* SINT32 *pnGrayInt -- 灰度积分图
* SINT32 *pnGradInt -- 梯度积分图
* SIZE32S snIntSize -- 积分图尺寸
* TARGET_OBJECT *ptTarget -- 待确认目标
* 输出参数：无
* 返 回 值：1-是目标，0-不是目标。
* 调用关系：无
* 其它说明：无
**********************************************************/
BBOOL DetectAreaObj::DAT_IsTarget(UINT16* pnSrDSmpImg, SIZE32S snImgSize, SINT32* pnGrayInt,
SINT32* pnGradInt, SIZE32S snIntSize, TARGET_OBJECT* ptTarget, GD_PIXEL_FORMAT_E enPixelFormat)
{
BBOOL bTarget = TRUE;
FLOAT32 fWHRatio; //宽高比
FLOAT32 fRectRatio; //矩形度
MINMAXRECT32S mrnObj; //目标矩形
MINMAXRECT32S mrnBkg; //背景矩形
MINMAXRECT32S mrnBkgBlk;//背景分块矩形
OBJECTSNR objSNR; //目标SNR结构体
SINT32 nObjBigger; //目标矩形扩展大小
SINT32 nBkgBigger; //背景矩形扩展大小
SINT32 nBkgPxlsCnt; //背景分块矩形内的像素个数
SINT32 nBkgMeanT = 0, nBkgMeanB = 0, nBkgMeanL = 0, nBkgMeanR = 0; //背景分块均值
SINT32 nBkgMaxVeri, nBkgMaxHori; //背景水平、垂直方向最大值
SINT32 nBkgMinVeri, nBkgMinHori; //背景水平、垂直方向最大值
SINT32 nDiffThresV, nDiffThresH; //水平、垂直方向灰度差阈值
SINT32 unObjPxlsCntReal;//目标实际像素个数
SIZE16S snObjSizeReal; //目标实际尺寸
BBOOL bEnableDeFABySize = m_DAT_stPara.bUseDeFA_Size;
BBOOL bEnableDeFAByWHR = m_DAT_stPara.bUseDeFA_WHRatio;
BBOOL bEnableDeFAByRR = m_DAT_stPara.bUseDeFA_RectRatio;
BBOOL bEnableDeFAByGrayDiff = m_DAT_stPara.bUseDeFA_BTGrayMin;
BBOOL bEnableDeFaByObjStd = m_DAT_stPara.bUseDeFA_ObjVarMin;
BBOOL bEnableDeFABySNR = false; //20171017飞机穿云过程中，SNR过小，易排除真实目标，改为FALSE
BBOOL bAtSkyLandLine = FALSE;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标矩形
nObjBigger = MIN(MAX(3, (MIN(ptTarget->snSize.w, ptTarget->snSize.h) >> 2)), 6);
mrnObj.minX = MAX(0, MIN(ptTarget->mrnRect.minX - nObjBigger, snImgSize.w - 1));
mrnObj.maxX = MAX(0, MIN(ptTarget->mrnRect.maxX + nObjBigger, snImgSize.w - 1));
mrnObj.minY = MAX(0, MIN(ptTarget->mrnRect.minY - nObjBigger, snImgSize.h - 1));
mrnObj.maxY = MAX(0, MIN(ptTarget->mrnRect.maxY + nObjBigger, snImgSize.h - 1));
//背景矩形
nBkgBigger = MIN(MAX(3, (MIN(ptTarget->snSize.w, ptTarget->snSize.h) >> 2)), 10);
mrnBkg.minX = MAX(0, MIN(mrnObj.minX - nBkgBigger, snImgSize.w - 1));
mrnBkg.maxX = MAX(0, MIN(mrnObj.maxX + nBkgBigger, snImgSize.w - 1));
mrnBkg.minY = MAX(0, MIN(mrnObj.minY - nBkgBigger, snImgSize.h - 1));
mrnBkg.maxY = MAX(0, MIN(mrnObj.maxY + nBkgBigger, snImgSize.h - 1));
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标大小限制
if (bEnableDeFABySize) // 20171107zy:对超大目标不进行大小限制
{
unObjPxlsCntReal = ptTarget->unObjPxlsCnt * m_DAT_stPara.nDSmpScale * m_DAT_stPara.nDSmpScale;
snObjSizeReal.w = ptTarget->snSize.w * m_DAT_stPara.nDSmpScale;
snObjSizeReal.h = ptTarget->snSize.h * m_DAT_stPara.nDSmpScale;
snObjSizeReal.s = snObjSizeReal.w * snObjSizeReal.h;
if (unObjPxlsCntReal < m_DAT_stPara.nObjSizeMin
|| unObjPxlsCntReal > m_DAT_stPara.nObjSizeMax
|| snObjSizeReal.w > m_DAT_stPara.nObjWidthMax
|| snObjSizeReal.h > m_DAT_stPara.nObjHeightMax)
{
bTarget = FALSE;
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标宽高比限制
if (bEnableDeFAByWHR)
{
fWHRatio = (FLOAT32)ptTarget->snSize.w / ptTarget->snSize.h;
if (fWHRatio < m_DAT_stPara.fObjWHRatioMin
|| fWHRatio > m_DAT_stPara.fObjWHRatioMax)
{
bTarget = FALSE;
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标矩形度限制(只有红外适应做矩形度限制)
if (bEnableDeFAByRR && GD_PIXEL_FORMAT_GRAY_Y16 == enPixelFormat)
{
fRectRatio = (FLOAT32)ptTarget->unObjPxlsCnt / ptTarget->snSize.s;
if (fRectRatio < m_DAT_stPara.fObjRectRatioMin)
{
bTarget = FALSE;
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//目标、背景均值灰度差限制
//20161112Whao，仅对亮目标打开该限制
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType && bEnableDeFAByGrayDiff)
{
//计算背景上分块灰度均值
mrnBkgBlk = mrnBkg;
mrnBkgBlk.maxY = mrnObj.minY - 1;
nBkgPxlsCnt = (mrnBkgBlk.maxY - mrnBkgBlk.minY + 1) * (mrnBkgBlk.maxX - mrnBkgBlk.minX + 1);
if (0 == nBkgPxlsCnt)
{
bTarget = FALSE;
return bTarget;
}
else
{
nBkgMeanT = IMGO_CalcIntegralInMMRect(pnGrayInt, snIntSize, mrnBkgBlk) / nBkgPxlsCnt;
}
//计算背景下分块灰度均值
mrnBkgBlk = mrnBkg;
mrnBkgBlk.minY = mrnObj.maxY + 1;
nBkgPxlsCnt = (mrnBkgBlk.maxY - mrnBkgBlk.minY + 1) * (mrnBkgBlk.maxX - mrnBkgBlk.minX + 1);
if (0 == nBkgPxlsCnt)
{
bTarget = FALSE;
return bTarget;
}
else
{
nBkgMeanB = IMGO_CalcIntegralInMMRect(pnGrayInt, snIntSize, mrnBkgBlk) / nBkgPxlsCnt;
}
//计算背景左分块灰度均值
mrnBkgBlk = mrnBkg;
mrnBkgBlk.maxX = mrnObj.minX - 1;
nBkgPxlsCnt = (mrnBkgBlk.maxY - mrnBkgBlk.minY + 1) * (mrnBkgBlk.maxX - mrnBkgBlk.minX + 1);
if (0 == nBkgPxlsCnt)
{
bTarget = FALSE;
return bTarget;
}
else
{
nBkgMeanL = IMGO_CalcIntegralInMMRect(pnGrayInt, snIntSize, mrnBkgBlk) / nBkgPxlsCnt;
}
//计算背景右分块灰度均值
mrnBkgBlk = mrnBkg;
mrnBkgBlk.minX = mrnObj.maxX + 1;
nBkgPxlsCnt = (mrnBkgBlk.maxY - mrnBkgBlk.minY + 1) * (mrnBkgBlk.maxX - mrnBkgBlk.minX + 1);
if (0 == nBkgPxlsCnt)
{
bTarget = FALSE;
return bTarget;
}
else
{
nBkgMeanR = IMGO_CalcIntegralInMMRect(pnGrayInt, snIntSize, mrnBkgBlk) / nBkgPxlsCnt;
}
//若目标灰度与垂直方向背景最大灰度的差值，小于(上下背景灰度差异*系数)，则认为是虚警。
//MSSu, 20150513: 面目标增加暗目标检测模式
//MSSu, 20150515: S231外场实验远距离目标在天地线附近，垂直方向最大值与目标的灰度较接近
// 因此，垂直方向最大值取上下背景的最小值。
//nBkgMaxVeri = MAX(nBkgMeanT, nBkgMeanB);
if (nBkgMeanT > nBkgMeanB)
{
nBkgMaxVeri = nBkgMeanB;
// bAtSkyLandLine = TRUE;
}
else
{
nBkgMaxVeri = MAX(nBkgMeanT, nBkgMeanB);
}
nBkgMinVeri = MIN(nBkgMeanT, nBkgMeanB);
nDiffThresV = (SINT32)(ABS(nBkgMeanT - nBkgMeanB) * m_DAT_stPara.fBkgGrayDiffCoeff);
nDiffThresV = MAX(nDiffThresV, m_DAT_stPara.nObjBkgGrayDiffMin);
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->pxObjGray - nBkgMaxVeri < nDiffThresV)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->pxObjGray - nBkgMinVeri > -nDiffThresV)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_ALL == m_DAT_stPara.nDetectGrayType)
{
if (((ptTarget->pxObjGray > nBkgMaxVeri)
&& ptTarget->pxObjGray - nBkgMaxVeri < nDiffThresV)
|| ((ptTarget->pxObjGray < nBkgMinVeri)
&& (ptTarget->pxObjGray - nBkgMinVeri > -nDiffThresV)))
{
bTarget = FALSE;
}
}
//若目标灰度与水平方向背景最大灰度的差值，小于(左右背景灰度差异*系数)，则认为是虚警。
//MSSu, 20150513: 面目标增加暗目标检测模式
nBkgMaxHori = MAX(nBkgMeanL, nBkgMeanR);
nBkgMinHori = MIN(nBkgMeanL, nBkgMeanR);
nDiffThresH = (SINT32)(ABS(nBkgMeanL - nBkgMeanR) * m_DAT_stPara.fBkgGrayDiffCoeff);
nDiffThresH = MAX(nDiffThresH, m_DAT_stPara.nObjBkgGrayDiffMin);
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->pxObjGray - nBkgMaxHori < nDiffThresH)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->pxObjGray - nBkgMinHori > -nDiffThresH)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_ALL == m_DAT_stPara.nDetectGrayType)
{
if (((ptTarget->pxObjGray > nBkgMaxHori)
&& ptTarget->pxObjGray - nBkgMaxHori < nDiffThresH)
|| ((ptTarget->pxObjGray < nBkgMinHori)
&& (ptTarget->pxObjGray - nBkgMinHori > -nDiffThresH)))
{
bTarget = FALSE;
}
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//仅对确认为目标的，计算SNR
if (!bTarget)
{
return bTarget;
}
//目标SNR限制
//计算目标的背景均值、背景标准差、SNR
memset(&objSNR, 0, sizeof(OBJECTSNR));
DAT_CalRectObjSNR_UINT16(pnSrDSmpImg, snImgSize.w, snImgSize.h, mrnObj, nBkgBigger, &objSNR, m_DAT_stPara.nDetectGrayType);
ptTarget->fBGMean = objSNR.BGMean;
ptTarget->fBGStd = objSNR.BGStd;
ptTarget->fSNR = objSNR.fSNR;
ptTarget->fObjStd = objSNR.ObjStd;
ptTarget->fGrayNeighbor[0] = nBkgMeanT;
ptTarget->fGrayNeighbor[1] = nBkgMeanB;
ptTarget->fGrayNeighbor[2] = nBkgMeanL;
ptTarget->fGrayNeighbor[3] = nBkgMeanR;
//20161112Whao，仅对亮目标打开该限制
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType && bEnableDeFABySNR && !bAtSkyLandLine)
{
if (GLB_OBJ_GRAY_BRIGHT == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->fSNR < m_DAT_stPara.fgdk)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_DARK == m_DAT_stPara.nDetectGrayType)
{
if (ptTarget->fSNR > -m_DAT_stPara.fgdk)
{
bTarget = FALSE;
}
}
else if (GLB_OBJ_GRAY_ALL == m_DAT_stPara.nDetectGrayType)
{
if (fabs(ptTarget->fSNR) < m_DAT_stPara.fgdk)
{
bTarget = FALSE;
}
}
}
if (bEnableDeFaByObjStd && ((ptTarget->fObjStd / (ptTarget->unObjPxlsCnt + 0.001)) < 3 && ptTarget->unObjPxlsCnt > 4))
{
//bTarget = false;
}
return bTarget;
}
/**********************************************************
* 函数名称：DAT_MergeObjs()
* 功能描述：目标合并
* 输入参数：TARGET_OBJECT *ptTargetArray -- 目标数组指针
* TARGET_OBJECT *ptTargetArrayCombine -- 用于合并的临时目标数组指针
* SINT32 nFrmObjsMax -- 单帧检测目标的最大个数
* SIZE32S nObjsCnt -- 输入目标个数
* SINT32 nObjsCombineDist -- 目标合并距离
* 输出参数：TARGET_OBJECT *ptTargetArr -- 目标数组指针
* 返 回 值：SINT32 nObjsCntNew -- 合并后目标个数
* 调用关系：无
* 其它说明：合并后的最终目标数组，拷贝到*ptTargetArray中返回。
**********************************************************/
SINT32 DetectAreaObj::DAT_MergeObjs(TARGET_OBJECT* ptTargetArray, TARGET_OBJECT* ptTargetArrayCombine,
SINT32 nFrmObjsMax, SINT32 nObjsCnt, SINT32 nObjsCombineDist)
{
SINT32 i, j;
SINT32 nObjsCntNew = 0; //合并后目标个数
TARGET_OBJECT* pTargetA = NULL;
TARGET_OBJECT* pTargetB = NULL;
MINMAXRECT mrnRectA, mrnRectB;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//判断面目标检测数目是否为零或仅有1个目标
if (nObjsCnt < 2)
{
return nObjsCnt;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//初始化
memcpy(ptTargetArrayCombine, ptTargetArray, nObjsCnt * sizeof(TARGET_OBJECT));
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//遍历已检测的目标
for (i = 0; i < nObjsCnt; i++)
{
//A目标
pTargetA = &ptTargetArrayCombine[i];
mrnRectA = pTargetA->mrnRect;
//A目标已被合并，则跳过
if (!pTargetA->bObject)
{
continue;
}
//搜索与A邻近的目标
for (j = i + 1; j < nObjsCnt; j++)
{
//B目标
pTargetB = &ptTargetArrayCombine[j];
mrnRectB = pTargetB->mrnRect;
//若A、B两个目标距离很近，更新目标大小和位置
if ((mrnRectA.minX < mrnRectB.minX && mrnRectA.maxX < mrnRectB.minX - nObjsCombineDist)
|| (mrnRectA.maxX > mrnRectB.maxX && mrnRectA.minX > mrnRectB.maxX + nObjsCombineDist)
|| (mrnRectA.minY < mrnRectB.minY && mrnRectA.maxY < mrnRectB.minY - nObjsCombineDist)
|| (mrnRectA.maxY > mrnRectB.maxY && mrnRectA.minY > mrnRectB.maxY + nObjsCombineDist))
{
continue;
}
//20161113跟踪过程中对重合的目标不合并
//将B目标合并到A目标中
pTargetA->pfCenPos.x = (pTargetA->pfCenPos.x * pTargetA->unObjPxlsCnt + pTargetB->pfCenPos.x * pTargetB->unObjPxlsCnt);
pTargetA->pfCenPos.x /= (pTargetA->unObjPxlsCnt + pTargetB->unObjPxlsCnt);
pTargetA->pfCenPos.y = (pTargetA->pfCenPos.y * pTargetA->unObjPxlsCnt + pTargetB->pfCenPos.y * pTargetB->unObjPxlsCnt);
pTargetA->pfCenPos.y /= (pTargetA->unObjPxlsCnt + pTargetB->unObjPxlsCnt);
pTargetA->unObjPxlsCnt = pTargetA->unObjPxlsCnt + pTargetB->unObjPxlsCnt;
pTargetA->mrnRect.minX = MIN(mrnRectA.minX, mrnRectB.minX);
pTargetA->mrnRect.maxX = MAX(mrnRectA.maxX, mrnRectB.maxX);
pTargetA->mrnRect.minY = MIN(mrnRectA.minY, mrnRectB.minY);
pTargetA->mrnRect.maxY = MAX(mrnRectA.maxY, mrnRectB.maxY);
pTargetA->snSize.h = pTargetA->mrnRect.maxY - pTargetA->mrnRect.minY + 1;
pTargetA->snSize.w = pTargetA->mrnRect.maxX - pTargetA->mrnRect.minX + 1;
pTargetA->snSize.s = pTargetA->snSize.h * pTargetA->snSize.w;
//更新A目标的方位角、俯仰角 (全局耦合)
//pTargetA->afAngle.fAz = SERVO_CalcObjAzimuth(pTargetA->pfCenPos.x,
// m_GLB_stInput.stParaLn.snImgSize.w,
// m_SERVO_stInput.fAzimuth, m_SERVO_stInput.fResolAz);
//pTargetA->afAngle.fPt = SERVO_CalcObjPitching(pTargetA->pfCenPos.y,
// m_GLB_stInput.stParaLn.snImgSize.h,
// m_SERVO_stInput.fPitching, m_SERVO_stInput.fResolPt);
//清空B目标
memset(pTargetB, 0, sizeof(TARGET_OBJECT));
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//将临时目标数组ptTargetArrayCombine赋给合并后目标数组ptTargetArray
memset(ptTargetArray, 0, nFrmObjsMax * sizeof(TARGET_OBJECT));
nObjsCntNew = 0;
for (i = 0; i < nObjsCnt; i++)
{
pTargetA = &ptTargetArrayCombine[i];
if (pTargetA->bObject)
{
pTargetB = &ptTargetArray[nObjsCntNew++];
memcpy(pTargetB, pTargetA, sizeof(TARGET_OBJECT));
}
}
return nObjsCntNew;
}
/**********************************************************
* 函数名称：DAT_MergeTargets()
* 功能描述：亮暗目标数组合并
* 输入参数：TARGET_OBJECT *ptDATResultBright -- 亮目标数组指针
* TARGET_OBJECT *ptDATResultDark -- 暗目标数组指针
* SINT32 TnFrmBrightObjCnt -- 亮目标数组个数
* SINT32 nFrmDarkObjCnt -- 暗目标数组个数
* SINT32 nFrmObjsMax -- 单帧检测目标的最大个数
* 输出参数：TARGET_OBJECT *ptTargetArr -- 目标数组指针
* 返 回 值：SINT32 nObjsCntNew -- 合并后目标个数
* 调用关系：无
* 其它说明：合并后的最终目标数组，拷贝到*ptTargetArray中返回。
**********************************************************/
SINT32 DetectAreaObj::DAT_MergeTargets(TARGET_OBJECT* ptDATResultBright, TARGET_OBJECT* ptDATResultDark,
SINT32 nFrmBrightObjCnt, SINT32 nFrmDarkObjCnt, SINT32 nFrmObjsMax)
{
TARGET_OBJECT* ptTargetArr = (TARGET_OBJECT*)DAT_Target_Temp;
memset(ptTargetArr, 0, sizeof(TARGET_OBJECT) * DAT_TARGET_NUM_MAX);
SINT32 i, j;
FLOAT32 fDistMax = 0.0f; //距离中心的最大值
SINT32 nMaxIndex = 0; //距离中心的最大值的元素下标
SINT32 nIndex = 0; //合并后数组下标
//距离数组
FLOAT32 DistArray[DAT_TARGET_NUM_MAX] = { 0 };
FLOAT32* pfDistArray = DistArray;
FLOAT32 fDist = 0.0f;
SINT32 GLB_CURSORX = m_DAT_stInput.crnSrRect.cx;
SINT32 GLB_CURSORY = m_DAT_stInput.crnSrRect.cy;
for (i = 0; i < nFrmBrightObjCnt; i++)
{
pfDistArray[nIndex] = (ptDATResultBright[i].pfCenPos.x - GLB_CURSORX) * (ptDATResultBright[i].pfCenPos.x - GLB_CURSORX)
+ (ptDATResultBright[i].pfCenPos.y - GLB_CURSORY) * (ptDATResultBright[i].pfCenPos.y - GLB_CURSORY);
ptTargetArr[nIndex] = ptDATResultBright[i];
if (pfDistArray[nIndex] - fDistMax > 0)
{
fDistMax = pfDistArray[nIndex];
nMaxIndex = nIndex;
}
nIndex++;
}
for (j = 0; j < nFrmDarkObjCnt; j++)
{
fDist = (ptDATResultDark[j].pfCenPos.x - GLB_CURSORX) * (ptDATResultDark[j].pfCenPos.x - GLB_CURSORX)
+ (ptDATResultDark[j].pfCenPos.y - GLB_CURSORY) * (ptDATResultDark[j].pfCenPos.y - GLB_CURSORY);
if (nIndex < nFrmObjsMax)
{
pfDistArray[nIndex] = fDist;
ptTargetArr[nIndex] = ptDATResultDark[j];
if (fDist - fDistMax > 0)
{
fDistMax = fDist;
nMaxIndex = nIndex;
}
nIndex++;
}
else
{
if (fDist - fDistMax < 0)
{
ptTargetArr[nMaxIndex] = ptDATResultDark[j];
pfDistArray[nMaxIndex] = fDist;
fDistMax = fDist;
//更新距离最大值和最大值的下标
for (i = 0; i < nFrmObjsMax; i++)
{
if (pfDistArray[i] - fDistMax > 0)
{
fDistMax = pfDistArray[i];
nMaxIndex = i;
}
}
}
}
}
return nIndex;
}
/**********************************************************
* 函数名称：DAT_CalRectObjSNR_UINT16()
* 功能描述：计算矩形目标SNR
* 输入参数：UINT16 *pFrame -- 原始图像
* SINT32 nWidth -- 图像宽度
* SINT32 nHeight -- 图像高度
* MINMAXRECT32S mrnObj-- 目标矩形坐标
* UBYTE8 nDetectGrayType -- 面目标检测类型 1-只检测亮目标，2-只检测暗目标，3-同时检测亮暗目标
* 输出参数：OBJECTSNR *objSNR -- 目标SNR信息
* 返 回 值：无
* 调用关系：无
* 其它说明：无
**********************************************************/
void DAT_CalRectObjSNR_IMG(GD_VIDEO_FRAME_S img, SINT32 nWidth, SINT32 nHeight,
MINMAXRECT32S mrnObj, SINT32 nBkgRadius,
OBJECTSNR* objSNR, UBYTE8 nDetectGrayType)
{
SINT32 i, j;
SINT32 nBGValue, nBGCnt; //背景点灰度、背景点计数
double dBGMean, dBGStd, dObjStd; //背景均值、方差
MINMAXRECT32S mrnBkg; //背景区域矩形
SINT32 nLineIndex, nIndex;
FLOAT32 fGrayMax, fGrayMin, fGrayMean;
POINT16S ptPntMax, ptPntMin;
SINT32 nGrayCnt;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//获取目标最大灰度值及其坐标
nLineIndex = mrnObj.minY * nWidth;
objSNR->Pnt.x = (mrnObj.minX + mrnObj.maxX) >> 1;
objSNR->Pnt.y = (mrnObj.minY + mrnObj.maxY) >> 1;
//objSNR->ObjGray = pnSrDSmpImg[objSNR->Pnt.y * nWidth + objSNR->Pnt.x];
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
objSNR->ObjGray = ((UBYTE8*)img.u64VirAddr[0])[objSNR->Pnt.y * nWidth + objSNR->Pnt.x];
}
else
{
objSNR->ObjGray = ((UINT16*)img.u64VirAddr[0])[objSNR->Pnt.y * nWidth + objSNR->Pnt.x];
}
fGrayMax = objSNR->ObjGray;
fGrayMin = objSNR->ObjGray;
ptPntMax = objSNR->Pnt;
ptPntMin = objSNR->Pnt;
fGrayMean = 0.0f;
nGrayCnt = 0;
dObjStd = 0;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnObj.minX; j <= mrnObj.maxX; j++)
{
nIndex = nLineIndex + j;
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
//最大值
if (((UBYTE8*)img.u64VirAddr[0])[nIndex] > fGrayMax)
{
fGrayMax = (FLOAT32)(((UBYTE8*)img.u64VirAddr[0])[nIndex]);
ptPntMax.x = j;
ptPntMax.y = i;
}
//最小值
if (((UBYTE8*)img.u64VirAddr[0])[nIndex] < fGrayMin)
{
fGrayMin = (FLOAT32)(((UBYTE8*)img.u64VirAddr[0])[nIndex]);
ptPntMin.x = j;
ptPntMin.y = i;
}
//均值
fGrayMean += (FLOAT32)(((UBYTE8*)img.u64VirAddr[0])[nIndex]);
dObjStd += (FLOAT32)(((UBYTE8*)img.u64VirAddr[0])[nIndex]) * (FLOAT32)(((UBYTE8*)img.u64VirAddr[0])[nIndex]);
}
else
{
//最大值
if (((UINT16*)img.u64VirAddr[0])[nIndex] > fGrayMax)
{
fGrayMax = (FLOAT32)(((UINT16*)img.u64VirAddr[0])[nIndex]);
ptPntMax.x = j;
ptPntMax.y = i;
}
//最小值
if (((UINT16*)img.u64VirAddr[0])[nIndex] < fGrayMin)
{
fGrayMin = (FLOAT32)(((UINT16*)img.u64VirAddr[0])[nIndex]);
ptPntMin.x = j;
ptPntMin.y = i;
}
//均值
fGrayMean += (FLOAT32)(((UINT16*)img.u64VirAddr[0])[nIndex]);
dObjStd += (FLOAT32)(((UINT16*)img.u64VirAddr[0])[nIndex]) * (FLOAT32)(((UINT16*)img.u64VirAddr[0])[nIndex]);
}
nGrayCnt++;
}
nLineIndex += nWidth;
}
if (nGrayCnt > 0)
{
fGrayMean /= nGrayCnt;
dObjStd /= nGrayCnt;
dObjStd -= fGrayMean * fGrayMean;
}
//根据检测类型，获取目标灰度
//亮目标
if (GLB_OBJ_GRAY_BRIGHT == nDetectGrayType)
{
objSNR->ObjGray = fGrayMax;
objSNR->Pnt = ptPntMax;
}
//暗目标
else if (GLB_OBJ_GRAY_DARK == nDetectGrayType)
{
objSNR->ObjGray = fGrayMin;
objSNR->Pnt = ptPntMin;
}
//亮暗全检测
else
{
//MSSu, 20150608: 取目标中心点灰度，屏蔽下面语句
//objSNR->ObjGray = fGrayMean;
//objSNR->Pnt.x = (mrnObj.minX + mrnObj.maxX) >> 1;
//objSNR->Pnt.y = (mrnObj.minY + mrnObj.maxY) >> 1;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//统计背景均值、方差：划分为上、下、左、右四个背景区域
//计算背景窗口边界
mrnBkg.minX = MAX(0, MIN(mrnObj.minX - nBkgRadius, nWidth - 1));
mrnBkg.maxX = MAX(0, MIN(mrnObj.maxX + nBkgRadius, nWidth - 1));
mrnBkg.minY = MAX(0, MIN(mrnObj.minY - nBkgRadius, nHeight - 1));
mrnBkg.maxY = MAX(0, MIN(mrnObj.maxY + nBkgRadius, nHeight - 1));
//统计背景均值、方差
nBGCnt = 0;
dBGMean = 0;
dBGStd = 0;
//背景区域-上
nLineIndex = mrnBkg.minY * nWidth;
for (i = mrnBkg.minY; i <= mrnObj.minY; i++)
{
for (j = mrnBkg.minX; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
//nBGValue = pnSrDSmpImg[nIndex];
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
nBGValue = ((UBYTE8*)img.u64VirAddr[0])[nIndex];
}
else
{
nBGValue = ((UINT16*)img.u64VirAddr[0])[nIndex];
}
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-下
nLineIndex = (mrnObj.maxY + 1) * nWidth;
for (i = mrnObj.maxY + 1; i <= mrnBkg.maxY; i++)
{
for (j = mrnBkg.minX; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
//nBGValue = pnSrDSmpImg[nIndex];
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
nBGValue = ((UBYTE8*)img.u64VirAddr[0])[nIndex];
}
else
{
nBGValue = ((UINT16*)img.u64VirAddr[0])[nIndex];
}
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-左
nLineIndex = mrnObj.minY * nWidth;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnBkg.minX; j < mrnObj.minX; j++)
{
nIndex = nLineIndex + j;
//nBGValue = pnSrDSmpImg[nIndex];
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
nBGValue = ((UBYTE8*)img.u64VirAddr[0])[nIndex];
}
else
{
nBGValue = ((UINT16*)img.u64VirAddr[0])[nIndex];
}
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-右
nLineIndex = mrnObj.minY * nWidth;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnObj.maxX + 1; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
//nBGValue = pnSrDSmpImg[nIndex];
if (GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat)
{
nBGValue = ((UBYTE8*)img.u64VirAddr[0])[nIndex];
}
else
{
nBGValue = ((UINT16*)img.u64VirAddr[0])[nIndex];
}
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//计算背景均值、方差
dBGMean /= nBGCnt;
dBGStd /= nBGCnt;
dBGStd -= dBGMean * dBGMean;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//保存目标SNR信息
objSNR->nTGR = (mrnObj.maxX - mrnObj.minX) >> 1;
objSNR->nBGR = nBkgRadius;
objSNR->BGMean = (FLOAT32)dBGMean;
objSNR->BGStd = (FLOAT32)sqrt(dBGStd);
objSNR->fSNR = (0 == objSNR->BGMean || objSNR->BGStd == 0) ? 1e6f : (FLOAT32)((objSNR->ObjGray - objSNR->BGMean) / objSNR->BGStd);
objSNR->ObjStd = (FLOAT32)sqrt(dObjStd);
}
/**********************************************************
* 函数名称：DAT_CalRectObjSNR_UINT16()
* 功能描述：计算矩形目标SNR
* 输入参数：UINT16 *pFrame -- 原始图像
* SINT32 nWidth -- 图像宽度
* SINT32 nHeight -- 图像高度
* MINMAXRECT32S mrnObj-- 目标矩形坐标
* UBYTE8 nDetectGrayType -- 面目标检测类型 1-只检测亮目标，2-只检测暗目标，3-同时检测亮暗目标
* 输出参数：OBJECTSNR *objSNR -- 目标SNR信息
* 返 回 值：无
* 调用关系：无
* 其它说明：无
**********************************************************/
void DAT_CalRectObjSNR_UINT16(UINT16* pnSrDSmpImg, SINT32 nWidth, SINT32 nHeight,
MINMAXRECT32S mrnObj, SINT32 nBkgRadius,
OBJECTSNR* objSNR, UBYTE8 nDetectGrayType)
{
SINT32 i, j;
SINT32 nBGValue, nBGCnt; //背景点灰度、背景点计数
double dBGMean, dBGStd, dObjStd; //背景均值、方差
MINMAXRECT32S mrnBkg; //背景区域矩形
SINT32 nLineIndex, nIndex;
FLOAT32 fGrayMax, fGrayMin, fGrayMean;
POINT16S ptPntMax, ptPntMin;
SINT32 nGrayCnt;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//获取目标最大灰度值及其坐标
nLineIndex = mrnObj.minY * nWidth;
objSNR->Pnt.x = (mrnObj.minX + mrnObj.maxX) >> 1;
objSNR->Pnt.y = (mrnObj.minY + mrnObj.maxY) >> 1;
objSNR->ObjGray = pnSrDSmpImg[objSNR->Pnt.y * nWidth + objSNR->Pnt.x];
fGrayMax = objSNR->ObjGray;
fGrayMin = objSNR->ObjGray;
ptPntMax = objSNR->Pnt;
ptPntMin = objSNR->Pnt;
fGrayMean = 0.0f;
nGrayCnt = 0;
dObjStd = 0;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnObj.minX; j <= mrnObj.maxX; j++)
{
nIndex = nLineIndex + j;
//最大值
if (pnSrDSmpImg[nIndex] > fGrayMax)
{
fGrayMax = (FLOAT32)(pnSrDSmpImg[nIndex]);
ptPntMax.x = j;
ptPntMax.y = i;
}
//最小值
if (pnSrDSmpImg[nIndex] < fGrayMin)
{
fGrayMin = (FLOAT32)(pnSrDSmpImg[nIndex]);
ptPntMin.x = j;
ptPntMin.y = i;
}
//均值
fGrayMean += (FLOAT32)(pnSrDSmpImg[nIndex]);
dObjStd += (FLOAT32)(pnSrDSmpImg[nIndex]) * (FLOAT32)(pnSrDSmpImg[nIndex]);
nGrayCnt++;
}
nLineIndex += nWidth;
}
if (nGrayCnt > 0)
{
fGrayMean /= nGrayCnt;
dObjStd /= nGrayCnt;
dObjStd -= fGrayMean * fGrayMean;
}
//根据检测类型，获取目标灰度
//亮目标
if (GLB_OBJ_GRAY_BRIGHT == nDetectGrayType)
{
objSNR->ObjGray = fGrayMax;
objSNR->Pnt = ptPntMax;
}
//暗目标
else if (GLB_OBJ_GRAY_DARK == nDetectGrayType)
{
objSNR->ObjGray = fGrayMin;
objSNR->Pnt = ptPntMin;
}
//亮暗全检测
else
{
//MSSu, 20150608: 取目标中心点灰度，屏蔽下面语句
//objSNR->ObjGray = fGrayMean;
//objSNR->Pnt.x = (mrnObj.minX + mrnObj.maxX) >> 1;
//objSNR->Pnt.y = (mrnObj.minY + mrnObj.maxY) >> 1;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//统计背景均值、方差：划分为上、下、左、右四个背景区域
//计算背景窗口边界
mrnBkg.minX = MAX(0, MIN(mrnObj.minX - nBkgRadius, nWidth - 1));
mrnBkg.maxX = MAX(0, MIN(mrnObj.maxX + nBkgRadius, nWidth - 1));
mrnBkg.minY = MAX(0, MIN(mrnObj.minY - nBkgRadius, nHeight - 1));
mrnBkg.maxY = MAX(0, MIN(mrnObj.maxY + nBkgRadius, nHeight - 1));
//统计背景均值、方差
nBGCnt = 0;
dBGMean = 0;
dBGStd = 0;
//背景区域-上
nLineIndex = mrnBkg.minY * nWidth;
for (i = mrnBkg.minY; i <= mrnObj.minY; i++)
{
for (j = mrnBkg.minX; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
nBGValue = pnSrDSmpImg[nIndex];
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-下
nLineIndex = (mrnObj.maxY + 1) * nWidth;
for (i = mrnObj.maxY + 1; i <= mrnBkg.maxY; i++)
{
for (j = mrnBkg.minX; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
nBGValue = pnSrDSmpImg[nIndex];
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-左
nLineIndex = mrnObj.minY * nWidth;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnBkg.minX; j < mrnObj.minX; j++)
{
nIndex = nLineIndex + j;
nBGValue = pnSrDSmpImg[nIndex];
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//背景区域-右
nLineIndex = mrnObj.minY * nWidth;
for (i = mrnObj.minY; i <= mrnObj.maxY; i++)
{
for (j = mrnObj.maxX + 1; j <= mrnBkg.maxX; j++)
{
nIndex = nLineIndex + j;
nBGValue = pnSrDSmpImg[nIndex];
//背景灰度及灰度平方累加
dBGMean += (double)nBGValue;
dBGStd += (double)nBGValue * nBGValue;
nBGCnt++;
}
nLineIndex += nWidth;
}
//计算背景均值、方差
dBGMean /= nBGCnt;
dBGStd /= nBGCnt;
dBGStd -= dBGMean * dBGMean;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//保存目标SNR信息
objSNR->nTGR = (mrnObj.maxX - mrnObj.minX) >> 1;
objSNR->nBGR = nBkgRadius;
objSNR->BGMean = (FLOAT32)dBGMean;
objSNR->BGStd = (FLOAT32)sqrt(dBGStd);
objSNR->fSNR = (0 == objSNR->BGMean || objSNR->BGStd == 0) ? 1e6f : (FLOAT32)((objSNR->ObjGray - objSNR->BGMean) / objSNR->BGStd);
objSNR->ObjStd = (FLOAT32)sqrt(dObjStd);
}
// TARGET_OBJECT _CreateNewTarget(UINT16* pFrame, SINT32 nWidth, SINT32 nHeight, RECT32S bbox, SINT32 unFrmId)
// {
// MINMAXRECT32S mrnObjRect;
// OBJECTSNR objSNR;
// TARGET_OBJECT tNewTarget = { 0 };
// TARGET_OBJECT* pNewTarget = NULL;
// POINT32F ptfObjPos = { 0 };
// ptfObjPos.x = FLOAT32(bbox.x + bbox.w / 2);
// ptfObjPos.y = FLOAT32(bbox.y + bbox.h / 2);
// //+++++++++++++++++++++++++++++++++++++++++++++++++++++++
// //计算目标边界矩形
// mrnObjRect.minY = MAX(0, MIN((SINT32)(bbox.y), nHeight - 1));
// mrnObjRect.maxY = MAX(0, MIN((SINT32)(bbox.y + bbox.h), nHeight - 1));
// mrnObjRect.minX = MAX(0, MIN((SINT32)(bbox.x), nWidth - 1));
// mrnObjRect.maxX = MAX(0, MIN((SINT32)(bbox.x + bbox.w), nWidth - 1));
// //+++++++++++++++++++++++++++++++++++++++++++++++++++++++
// //新建目标
// memset(&tNewTarget, 0, sizeof(TARGET_OBJECT));
// tNewTarget.bObject = true;
// tNewTarget.unFrmID = unFrmId;
// tNewTarget.pfCenPos = ptfObjPos;
// tNewTarget.pnMaxPos.x = (SINT16)(ptfObjPos.x);
// tNewTarget.pnMaxPos.y = (SINT16)(ptfObjPos.y);
// tNewTarget.mrnRect.minY = (SINT16)(mrnObjRect.minY);
// tNewTarget.mrnRect.maxY = (SINT16)(mrnObjRect.maxY);
// tNewTarget.mrnRect.minX = (SINT16)(mrnObjRect.minX);
// tNewTarget.mrnRect.maxX = (SINT16)(mrnObjRect.maxX);
// tNewTarget.snSize.w = (SINT16)(bbox.w);
// tNewTarget.snSize.h = (SINT16)(bbox.h);
// tNewTarget.snSize.s = (SINT32)(bbox.w * bbox.h);
// tNewTarget.unObjPxlsCnt = (SINT32)(tNewTarget.snSize.s);
// //计算目标的背景均值、背景标准差、SNR
// memset(&objSNR, 0, sizeof(OBJECTSNR));
// _DAT_CalRectObjSNR_PIXELTYPE(pFrame, nWidth, nHeight, mrnObjRect,
// 3, &objSNR, DAT_DETECT_OBJ_TYPE_ALL);
// tNewTarget.pxObjGray = (UINT16)objSNR.ObjGray;
// tNewTarget.nObjTypeSize = GLB_OBJ_SIZE_FACE;
// tNewTarget.nObjTypeGray = objSNR.fSNR > 0.0f ? GLB_OBJ_GRAY_BRIGHT : GLB_OBJ_GRAY_DARK;
// tNewTarget.fBGMean = objSNR.BGMean;
// tNewTarget.fBGStd = objSNR.BGStd;
// tNewTarget.fSNR = objSNR.fSNR;
// return tNewTarget;
// }