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直接放松运动模型阈值，发外场测试一版

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wangchongwu 4 months ago
parent ab4b68bcb8
commit 0b49d77bfa
7 changed files with 49 additions and 31 deletions
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4
NeoTracker/src/Arith_EOController.cpp
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@ -345,6 +345,9 @@ void Arith_EOController::GLB_InitArithParameters()
g_GLB_stArithPara.stSkyParam.Sky_bSelectObjManual = 1; g_GLB_stArithPara.stSkyParam.Sky_bSelectObjManual = 1;
g_GLB_stArithPara.stSkyParam.Sky_bUseAIDet = true; g_GLB_stArithPara.stSkyParam.Sky_bUseAIDet = true;
g_GLB_stArithPara.stSkyParam.Sky_nUseAIDetFeq = 1; g_GLB_stArithPara.stSkyParam.Sky_nUseAIDetFeq = 1;
g_GLB_stArithPara.stSkyParam.Sky_fLastMoveR = 4.0;
g_GLB_stArithPara.stSkyParam.Sky_fPredMoveR = 2.0;
g_GLB_stArithPara.stSkyParam.prmTSkyDet.bEnableDetcetAreaTarget = true; g_GLB_stArithPara.stSkyParam.prmTSkyDet.bEnableDetcetAreaTarget = true;
g_GLB_stArithPara.stSkyParam.prmTSkyDet.bEnableDetcetDimTarget = false; g_GLB_stArithPara.stSkyParam.prmTSkyDet.bEnableDetcetDimTarget = false;
g_GLB_stArithPara.stSkyParam.prmTSkyDet.fSmallDetectGDK = 5; g_GLB_stArithPara.stSkyParam.prmTSkyDet.fSmallDetectGDK = 5;
@ -355,6 +358,7 @@ void Arith_EOController::GLB_InitArithParameters()
g_GLB_stArithPara.stSkyParam.prmTSkyDet.nDSmpScale = 4; g_GLB_stArithPara.stSkyParam.prmTSkyDet.nDSmpScale = 4;
// 对地默认参数 // 对地默认参数
g_GLB_stArithPara.stGrdParam.bEnableAccuracyTrack = true; g_GLB_stArithPara.stGrdParam.bEnableAccuracyTrack = true;
g_GLB_stArithPara.stGrdParam.bUseServePredict = false; g_GLB_stArithPara.stGrdParam.bUseServePredict = false;

48
NeoTracker/src/Arith_TrackSAObj.cpp
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@ -1007,10 +1007,10 @@ FLOAT32 SA_Tracker::Similarity_Move(PIPE* pPipe, TARGET_OBJECT* ptTarget, FLOAT3
SIZE16S padSize = { 0 }; SIZE16S padSize = { 0 };
padSize.w = MAX(ABS(fSpeedLong.vx * 3) + pPipe->objHistoryList[pPipe->ubEnd].snSize.w, 8); padSize.w = MAX(ABS(fSpeedLong.vx * 3) + pPipe->objHistoryList[pPipe->ubEnd].snSize.w, 20);
padSize.h = MAX(ABS(fSpeedLong.vy * 3) + pPipe->objHistoryList[pPipe->ubEnd].snSize.h, 8); padSize.h = MAX(ABS(fSpeedLong.vy * 3) + pPipe->objHistoryList[pPipe->ubEnd].snSize.h, 20);
SINT32 nPipeRadiusTrack = 10 + MAX(pPipe->ObjectFilter.sfSize.w, pPipe->ObjectFilter.sfSize.h); SINT32 nPipeRadiusTrack = 50 + MAX(pPipe->ObjectFilter.sfSize.w, pPipe->ObjectFilter.sfSize.h);
if (pPipe->bLost) if (pPipe->bLost)
{ {
@ -1234,7 +1234,6 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
continue; continue;
} }
// 计算表观相似度 // 计算表观相似度
FLOAT32 fAppSim = Similarity_Apparent(pPipe, ptTarget); FLOAT32 fAppSim = Similarity_Apparent(pPipe, ptTarget);
@ -1243,7 +1242,6 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fSim = fAppSim * fApparentModelWeight + fMoveSim * fMoveModelWeight; fSim = fAppSim * fApparentModelWeight + fMoveSim * fMoveModelWeight;
ptTarget->fMatchConf = fSim; ptTarget->fMatchConf = fSim;
SINT32 nDSmpScale = pDAT_Module->GetDatParm()->nDSmpScale; SINT32 nDSmpScale = pDAT_Module->GetDatParm()->nDSmpScale;
@ -1297,6 +1295,11 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
} }
} }
// 焦距关联阈值(按照0.01度器件精度)
SINT32 nFThreMin = 0.01 / fAglReso * 2;
SINT32 nMoveMin = 0.01 / fAglReso * 4;
// 阈值调整 // 阈值调整
if (pPipe->unLostCnt < 20) if (pPipe->unLostCnt < 20)
{ {
@ -1304,10 +1307,10 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fSScaleChangeHighThres = 3.f; fSScaleChangeHighThres = 3.f;
fAScaleChangeLowThres = 0.5; fAScaleChangeLowThres = 0.5;
fAScaleChangeHighThres = 2.0; fAScaleChangeHighThres = 2.0;
nLastDiffThresX = 6; nLastDiffThresX = MAX(nMoveMin,12);
nLastDiffThresY = 6; nLastDiffThresY = MAX(nMoveMin, 12);
nPredictDiffThresX = 8; nPredictDiffThresX = MAX(nFThreMin, 12);
nPredictDiffThresY = 8; nPredictDiffThresY = MAX(nFThreMin, 12);
} }
else if (pPipe->unLostCnt < 50) else if (pPipe->unLostCnt < 50)
{ {
@ -1315,10 +1318,10 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fSScaleChangeHighThres = 5.f; fSScaleChangeHighThres = 5.f;
fAScaleChangeLowThres = 0.33; fAScaleChangeLowThres = 0.33;
fAScaleChangeHighThres = 3.0; fAScaleChangeHighThres = 3.0;
nLastDiffThresX = 10; nLastDiffThresX = MAX(nMoveMin, 24);
nLastDiffThresY = 10; nLastDiffThresY = MAX(nMoveMin, 24);
nPredictDiffThresX = 12; nPredictDiffThresX = MAX(nFThreMin, 36);
nPredictDiffThresY = 12; nPredictDiffThresY = MAX(nFThreMin, 36);
} }
else if (pPipe->unLostCnt < 100) else if (pPipe->unLostCnt < 100)
{ {
@ -1326,10 +1329,10 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fSScaleChangeHighThres = 8.f; fSScaleChangeHighThres = 8.f;
fAScaleChangeLowThres = 0.33; fAScaleChangeLowThres = 0.33;
fAScaleChangeHighThres = 3.0; fAScaleChangeHighThres = 3.0;
nLastDiffThresX = 15; nLastDiffThresX = MAX(nMoveMin, 36);
nLastDiffThresY = 15; nLastDiffThresY = MAX(nMoveMin, 36);
nPredictDiffThresX = 18; nPredictDiffThresX = MAX(nFThreMin, 48);
nPredictDiffThresY = 18; nPredictDiffThresY = MAX(nFThreMin, 48);
} }
else else
{ {
@ -1337,10 +1340,10 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fSScaleChangeHighThres = 12.f; fSScaleChangeHighThres = 12.f;
fAScaleChangeLowThres = 0.25; fAScaleChangeLowThres = 0.25;
fAScaleChangeHighThres = 4.0; fAScaleChangeHighThres = 4.0;
nLastDiffThresX = 15; nLastDiffThresX = MAX(nMoveMin, 48);
nLastDiffThresY = 15; nLastDiffThresY = MAX(nMoveMin, 48);
nPredictDiffThresX = 18; nPredictDiffThresX = MAX(nFThreMin, 60);
nPredictDiffThresY = 18; nPredictDiffThresY = MAX(nFThreMin, 60);
} }
SINT32 nEnd = pPipe->ubEnd; SINT32 nEnd = pPipe->ubEnd;
@ -1466,10 +1469,11 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fMoveThres = 0.8 * 1.f - ContiLostThres; fMoveThres = 0.8 * 1.f - ContiLostThres;
} }
//若最大相似度不满足阈值，则认为未查找到管道目标，返回-1 //若最大相似度不满足阈值，则认为未查找到管道目标，返回-1
if (fSimMax < fThres ||(SmallTarget == m_SizeMode && fMoveSim_Target < fMoveThres)) if (fSimMax < fThres /*||(SmallTarget == m_SizeMode && fMoveSim_Target < fMoveThres)*/)
{ {
nSimTargetId = -1; nSimTargetId = -1;
} }
if (-1 != nSimTargetId) if (-1 != nSimTargetId)
{ {
//记录管道目标跟踪相似度 //记录管道目标跟踪相似度

4
NeoTracker/src/Common/Arith_SysStruct.h
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@ -971,6 +971,10 @@ typedef struct tagParam_SkyTracker
SINT32 nSmallObjSizeMax; //小面目标的像素数切换阈值 SINT32 nSmallObjSizeMax; //小面目标的像素数切换阈值
SINT32 nAreaCombineDist; //面目标合并距离 SINT32 nAreaCombineDist; //面目标合并距离
// 运动模型容忍度
FLOAT32 Sky_fLastMoveR; // 相对上一帧位置容忍阈值（最小分辨力的倍率）
FLOAT32 Sky_fPredMoveR; // 相对预测位置容忍阈值（最小分辨力的倍率）
//用于控制跟踪局部的检测器 //用于控制跟踪局部的检测器
Param_SkyDetect prmTSkyDet; //对空跟踪局部检测器参数 Param_SkyDetect prmTSkyDet; //对空跟踪局部检测器参数

2
NeoTracker/src/Version.h.in
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@ -3,4 +3,4 @@
#pragma once #pragma once
#include <string> #include <string>
std::string BUILD_TIME = "BUILD_TIME @build_time@"; std::string BUILD_TIME = "BUILD_TIME @build_time@";
std::string VERSION = "BUILD_VERSION 1.0.1"; std::string VERSION = "BUILD_VERSION 1.3.0";

3
QGuideArithStudio/src/ArithInterface.cpp
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@ -434,9 +434,10 @@ void RunNeoTracker(std::vector<VideoStream*> streamVec)
ARIDLL_INPUTPARA stInputPara = { 0 }; ARIDLL_INPUTPARA stInputPara = { 0 };
BYTE* m_pParamData = m_stream->GetParamDataBuffer(); BYTE* m_pParamData = m_stream->GetParamDataBuffer();
BYTE* m_pResultData = m_stream->GetResultDataBuffer(); //复用结果行解析红外参数 BYTE* m_pResultData = m_stream->GetResultDataBuffer(); //复用结果行解析红外参数
memset(&m_stInputPara, 0, sizeof(ARIDLL_INPUTPARA)); memset(&m_stInputPara, 0, sizeof(ARIDLL_INPUTPARA));
memset(&m_stOutput, 0, sizeof(ARIDLL_OUTPUT)); memset(&m_stOutput, 0, sizeof(ARIDLL_OUTPUT));
S3315GetImagePara(m_pParamData, m_pResultData, &stInputPara); S3315GetImagePara(pSrc,m_pParamData, m_pResultData, &stInputPara);
memcpy(&m_stInputPara, &stInputPara, sizeof(ARIDLL_INPUTPARA)); memcpy(&m_stInputPara, &stInputPara, sizeof(ARIDLL_INPUTPARA));
m_stInputPara.unFrmId = frameID; m_stInputPara.unFrmId = frameID;
//memcpy(&m_stInputPara, m_pParamData, sizeof(ARIDLL_INPUTPARA));//读取可见光录像中算法输入 //memcpy(&m_stInputPara, m_pParamData, sizeof(ARIDLL_INPUTPARA));//读取可见光录像中算法输入

17
QGuideArithStudio/src/Project/S3315.cpp
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@ -19,24 +19,29 @@ float calc_fov_by_mil(float mil, int mil_type)
return (mil * 360.0f / mil_type); return (mil * 360.0f / mil_type);
} }
void S3315GetImagePara(unsigned char* pParamDataBuffer, unsigned char* pResultDataBuffer, ARIDLL_INPUTPARA* ImagePara) void S3315GetImagePara(unsigned char* pImageDataBuffer,unsigned char* pParamDataBuffer, unsigned char* pResultDataBuffer, ARIDLL_INPUTPARA* ImagePara)
{ {
ST_3315_152_NO110* pParamNO110DataBuffer = (ST_3315_152_NO110*)calloc(640, sizeof(int)); ST_3315_152_NO110* pParamNO110DataBuffer = (ST_3315_152_NO110*)calloc(640, sizeof(int));
ST_3315_152_NO149* pParamNO149DataBuffer = (ST_3315_152_NO149*)calloc(640, sizeof(int)); ST_3315_152_NO149* pParamNO149DataBuffer = (ST_3315_152_NO149*)calloc(640, sizeof(int));
ST_3315_152_NO65* pParamNO65DataBuffer = (ST_3315_152_NO65*)calloc(640, sizeof(int)); ST_3315_152_NO65* pParamNO65DataBuffer = (ST_3315_152_NO65*)calloc(640, sizeof(int));
unsigned char* IR_para = { 0 };
//memcpy(IR_para, pParamDataBuffer, 1280);
memcpy(pParamNO110DataBuffer, pParamDataBuffer, 640); memcpy(pParamNO110DataBuffer, pParamDataBuffer, 640);
memcpy(pParamNO149DataBuffer, pParamDataBuffer+ 640, 640); memcpy(pParamNO149DataBuffer, pParamDataBuffer+ 640, 640);
memcpy(pParamNO65DataBuffer, pParamDataBuffer + 1280, 640); memcpy(pParamNO65DataBuffer, pParamDataBuffer + 1280, 640);
ImagePara->stServoInfo.fServoAz = calc_fov_by_mil(pParamNO65DataBuffer->B1B0 , 6000) * 6000.0f / 65536.0f; ImagePara->stServoInfo.fServoAz = calc_fov_by_mil(pParamNO65DataBuffer->B1B0 , 6000) * 6000.0f / 65536.0f;
ImagePara->stServoInfo.fServoPt = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f; ImagePara->stServoInfo.fServoPt = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f;
ImagePara->stAirCraftInfo.stAtt.fYaw = calc_fov_by_mil(pParamNO65DataBuffer->B1B0, 6000) * 6000.0f / 65536.0f; ImagePara->stAirCraftInfo.stAtt.fYaw = calc_fov_by_mil(pParamNO65DataBuffer->B1B0, 6000) * 6000.0f / 65536.0f;
ImagePara->stAirCraftInfo.stAtt.fPitch = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f; ImagePara->stAirCraftInfo.stAtt.fPitch = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f;
ImagePara->stAirCraftInfo.stAtt.fRoll = calc_fov_by_mil(pParamNO65DataBuffer->B5B4, 6000) * 6000.0f / 65536.0f; ImagePara->stAirCraftInfo.stAtt.fRoll = calc_fov_by_mil(pParamNO65DataBuffer->B5B4, 6000) * 6000.0f / 65536.0f;
ImagePara->stCameraInfo.fPixelSize = 25; ImagePara->stCameraInfo.fPixelSize = 25;
ImagePara->stCameraInfo.nFocus = 302; ImagePara->stCameraInfo.nFocus = 948;
ImagePara->unFreq = 50; ImagePara->unFreq = 50;
//unsigned short* pIR = ((unsigned short*)pImageDataBuffer);
//ImagePara->stCameraInfo.nFocus = pIR[640 + 64] * 0.1;
/*std::cout << std::hex << std::setw(8) << "pParamDataBuffer" << std::setfill('0') << reinterpret_cast<std::uintptr_t>(pParamDataBuffer) << ": "; /*std::cout << std::hex << std::setw(8) << "pParamDataBuffer" << std::setfill('0') << reinterpret_cast<std::uintptr_t>(pParamDataBuffer) << ": ";
for (int i = 0; i < 640; ++i) for (int i = 0; i < 640; ++i)
{ {

2
QGuideArithStudio/src/Project/S3315.h
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@ -54,4 +54,4 @@ typedef struct _3315_152_NO65 {
unsigned short B5B4; /* 方位角（稳定系） */ unsigned short B5B4; /* 方位角（稳定系） */
unsigned short B7B6; /* 纵摇角 （稳定系）*/ unsigned short B7B6; /* 纵摇角 （稳定系）*/
}ST_3315_152_NO65; }ST_3315_152_NO65;
extern void S3315GetImagePara(unsigned char* pParamDataBuffer, unsigned char* pResultDataBuffer, ARIDLL_INPUTPARA* ImagePara); extern void S3315GetImagePara(unsigned char* pImageDataBuffer,unsigned char* pParamDataBuffer, unsigned char* pResultDataBuffer, ARIDLL_INPUTPARA* ImagePara);
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