1.重新处理天际线，不占用管道资源

2.将波门位置改为短时轨迹预测位置

NeoTracker/src/Arith_EOController.cpp

@@ -1048,7 +1048,24 @@ void  Arith_CalcTargetSysInfo(TARGET_OBJECT* pTargetObj, SINT32 nFrmNum, GLB_INP
     }
 }
 
+void DeleteTargetSkyLine(TARGET_OBJECT* pTargetArr, int num, GLB_PARAMETERS& g_para)
+{
+    // 不使用天地线
+    if (!g_para.bFiteredAlarm)
+    {
+        return;
+    }
+
+    for (int i = 0; i < num; i++)
+    {
+        TARGET_OBJECT* tTarget = &pTargetArr[i];
 
+        if (tTarget->afAngle.fPt < g_para.fFilterPt)
+        {
+            tTarget->bObject = false;
+        }
+    }
+}
 
 void Arith_EOController::GLB_Release_Trackers(SINT32 nPipeNum)
 {

NeoTracker/src/Arith_EOController.h

@@ -14,6 +14,8 @@
 
 void  Arith_CalcTargetSysInfo(TARGET_OBJECT* pTargetObj, SINT32 nFrmNum, GLB_INPUT g_Input);
 
+void DeleteTargetSkyLine(TARGET_OBJECT* pTargetArr, int num, GLB_PARAMETERS& g_para);
+
 class Arith_EOController
 {
 public:

NeoTracker/src/Arith_Status_MOTRACK.cpp

@@ -316,6 +316,9 @@ BBOOL Arith_EOController::Arith_Status_MOTRACK(GD_VIDEO_FRAME_S img, GLB_INPUT&
 	// 目标系统相关的其他信息计算
 	Arith_CalcTargetSysInfo(pFrameTargetArray, nFrmTargetNum, g_Input);
 
+	// 拦截天地线以下的目标
+	DeleteTargetSkyLine(pFrameTargetArray, nFrmTargetNum, g_para);
+
 	// MOT管道处理
 	g_GLB_PipeProc->Run(pFrameTargetArray, nFrmTargetNum, GLB_STATUS_TRACK, g_Input, m_SceneType);
 

NeoTracker/src/Arith_Status_SEARCH.cpp

@@ -174,24 +174,7 @@ SINT32 Arith_EOController::Proc_SearchLock(GD_VIDEO_FRAME_S img, GLB_INPUT & g_I
 }
 
 
-void DeleteTargetSkyLine(TARGET_OBJECT* pTargetArr, int num, GLB_PARAMETERS& g_para)
-{
-    // 不使用天地线
-    if (!g_para.bFiteredAlarm)
-    {
-        return;
-    }
-
-    for (int i = 0; i < num; i++)
-    {
-        TARGET_OBJECT* tTarget = &pTargetArr[i];
 
-        if (tTarget->afAngle.fPt < g_para.fFilterPt)
-        {
-            tTarget->bObject = false;
-        }
-    }
-}
 
 
 /*************************************

NeoTracker/src/Arith_TrackSAObj.cpp

@@ -435,9 +435,11 @@ void SA_Tracker::SetAutoSearchZone(SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_G
     SINT32 nPipeRadiusTrack = m_TSA_Param.nPipeRadiusTrack;
     SINT32 nPipeRadiusLost = m_TSA_Param.nPipeRadiusLost;
     //根据目标速度预测目标在当前帧的坐标位置
+
+    // 伺服太晃，直接使用短时预测。
     nEnd = m_LockingPipe->ubEnd;
-    pPipe->ptCurrentPnt.x = pPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
+    pPipe->ptCurrentPnt.x = pPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
-    pPipe->ptCurrentPnt.y = pPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+    pPipe->ptCurrentPnt.y = pPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
 
     // 取长时预测点作为管道当前位置预测
     if (PIPE_EVENT_JUST_LOCK == m_LockingPipe->ubEventStatus)
@@ -452,6 +454,7 @@ void SA_Tracker::SetAutoSearchZone(SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_G
     }
 
 
+
     //判断管道目标是否超出视场
     //if (IMGO_IsPoint16SOutImg(nWidth, nHeight, pPipe->ptCurrentPnt))
     if(IMGO_IsPoint32FOutImg(nWidth, nHeight, ptCurrentPnt))
@@ -1175,7 +1178,7 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
     //局部变量
     FLOAT32 fSim = 0.0f; //目标相似度
     FLOAT32 fSimMax = -1.0f;//目标相似度最大值
-    FLOAT32 fSimThres = 0.7f; //相似度阈值
+    FLOAT32 fSimThres = 0.2f; //相似度阈值
     SINT32  nFrmsStep = 1;    //帧间隔
     TARGET_OBJECT* ptMainTarget = NULL; //主管道目标
     TARGET_OBJECT* ptTarget = NULL; //候选目标
@@ -1377,8 +1380,8 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
         fAScaleChangeHighThres = 2.0;
         nLastDiffThresX = MAX(nMoveMin, 6);
         nLastDiffThresY = MAX(nMoveMin, 6);
-        nPredictDiffThresX = MAX(nFThreMin, 6);
+        nPredictDiffThresX = MAX(nFThreMin, 12);
-        nPredictDiffThresY = MAX(nFThreMin, 6);
+        nPredictDiffThresY = MAX(nFThreMin, 12);
     }
 
 

NeoTracker/src/Arith_Tracker.cpp

@@ -150,9 +150,13 @@ bool Tracker::Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_PIPE*
 	// 基于窗口平均计算管道长短时预测点
 	Predict_ObjAglTrackPredict(&m_LockingPipe->stMotionMod_mean, img.u32Width, img.u32Height, p_GLB_Input);
 
-	m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsLong.arfFilter.afAngle;
+	//m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsLong.arfFilter.afAngle;
-	m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
+	//m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
-	m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+	//m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+
+	m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsNear.arfFilter.afAngle;
+	m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
+	m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
 	
 	// 跟踪找到目标
 	if (m_type == GLB_SCEN_MODE::GLB_SCEN_SKY)

NeoTracker/src/Common/Arith_AglPredict.cpp

@@ -187,7 +187,7 @@ void Predict_ObjAglTrackPredict(FilterMeanNL* pFilter, SINT32 nWidth, SINT32 nHe
 	//SINT32 nNLDist2Thres = g_DST_stPara.nPipeRadiusTrack * g_DST_stPara.nPipeRadiusTrack;
 	// SINT32   nNLDist2Thres = 20*20;
 	//SINT32 nNLDist2Thres = (g_GLB_stOutput.ObjectStatus.sfSize.h * g_GLB_stOutput.ObjectStatus.sfSize.w) *  25;
-	SINT32 nNLDist2Thres = 10 * 25;
+	SINT32 nNLDist2Thres = 10*10;
     nNLDist2Thres = MAX(nNLDist2Thres,100);
 
 	if (fNLDist2 - fNLDist2Pre > 2 
@@ -200,7 +200,7 @@ void Predict_ObjAglTrackPredict(FilterMeanNL* pFilter, SINT32 nWidth, SINT32 nHe
 		pFilter->nObjPredictFarCnt = 0;
 		pFilter->bObjPredictAbnormal = FALSE;
 	}
-	if (pFilter->nObjPredictFarCnt > 10
+	if (pFilter->nObjPredictFarCnt > 5
 		&& fNLDist2 > nNLDist2Thres)
 	{
 		pFilter->bObjPredictAbnormal = TRUE;

NeoTracker/src/Common/Arith_SysStruct.h

@@ -97,7 +97,7 @@
 #define GLB_GROUP_PIPENUM_MAX       3      //组包含的管道个数（只支持3个合并）
 
 //管道确认帧数
-#define GLB_PIPE_AWS_FRAME_STARE          5   //管道目标确认(报警)的最少帧数:凝视
+#define GLB_PIPE_AWS_FRAME_STARE          3   //管道目标确认(报警)的最少帧数:凝视
 #define GLB_PIPE_AWS_FRAME_SCAN           3   //管道目标确认(报警)的最少帧数：扫描
 #define GLB_PIPE_NUM_SECTOR			9	//目标运动方向分割 qw 20220112
 

NeoTracker/src/debugExport.cpp

@@ -293,6 +293,26 @@ DAT_OUTPUT* ARIDLL_GetTrkDAT_stOutput(ArithHandle hArithSrc, int pipeID)
     return pArith->g_GLB_Trackers[pipeID]->pSkyTracker->pSATracker->pDAT_Module->getDAT_stOutput();
 }
 
+DBG_TRACKER_API int ARIDLL_GetSkyLineY(ArithHandle hArithSrc)
+{
+    Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
+
+    auto input = &pArith->g_GLB_stInput;
+
+    if (pArith->g_GLB_stPara.bFiteredAlarm)
+    {
+        Pole skyPole = { 0 };
+        skyPole.alpha = pArith->g_GLB_stPara.fFilterPt;
+        skyPole.beta = input->servoInfo.fAz;  //这个车基本是平的，不然需要找到当前视场方位角
+
+        POINT32F Skypos = getImagePosFromStablePole(skyPole, input->stCamera, input->servoInfo, input->afPlatformRPY, input->setupErr);
+
+        return Skypos.y;
+    }
+
+    return -1;
+}
+
 
 FilterMeanNL* ARIDLL_GetTrackerHistInfo(ArithHandle hArithSrc, int pipeID)
 {

NeoTracker/src/debugExport.h

@@ -146,6 +146,9 @@ DBG_TRACKER_API DAT_PARAMETERS* ARIDLL_GetTrkDAT_stPara(ArithHandle hArithSrc, i
 // 跟踪器局部检测面结果输出
 DBG_TRACKER_API DAT_OUTPUT* ARIDLL_GetTrkDAT_stOutput(ArithHandle hArithSrc, int pipeID);
 
+// 输出天地线
+DBG_TRACKER_API int ARIDLL_GetSkyLineY(ArithHandle hArithSrc);
+
 
 //////////////////////////////////////////////////////////////////////////
 ////////////////////////////TLD检测结果导出///////////////////////////////

QGuideArithStudio/src/QVideoPlayer.cpp

@@ -650,6 +650,8 @@ void QVideoPlayer::DrawArithResult()
     // 导引信息
     DrawGuideRect();
 
+    DrawSkyLine(m_ImageViewer);
+
     // 绘制单帧检测(外部传入)
     if (bEnableDrawFrameDetect)
     {
@@ -892,22 +894,27 @@ void QVideoPlayer::DrawTrackersInfo()
             str = QString(_S("ID:%1 conf：%2,Src:%3,mem:%4")).arg(obj->nOutputID).arg(QString::number(fconf, 'f', 3)).arg(src).arg(lostCnt);
 
             str1 = QString(_S("type:%1")).arg(obj->unClsType);
+
+            QString str2 = QString(_S("SNR:%1, dGray:%2")).arg(obj->fSNR).arg(obj->nObjGray - obj->fBkgGray);
             if (obj->nOutputID >= 2)
             {
                 continue;
             }
             auto text = scene->addSimpleText(str);
             auto text1 = scene->addSimpleText(str1);
+            auto text2 = scene->addSimpleText(str2);
 
             if (sabox.w == 0 || sabox.h == 0)
             {
                 text->setPos(QPoint(kcfBox.x - 10, kcfBox.y - 10));
                 text1->setPos(QPoint(kcfBox.x - 10, kcfBox.y + kcfBox.h + 10));
+                
             }
             else
             {
                 text->setPos(QPoint(sabox.x - 10, sabox.y - 10));
                 text1->setPos(QPoint(sabox.x - 10, sabox.y + sabox.h + 10));
+                text2->setPos(QPoint(sabox.x - 10, sabox.y + sabox.h + 20));
             }
             QFont ft; ft.setPointSize(8);
             text->setBrush(QBrush(QColor(Qt::red)));
@@ -1599,10 +1606,16 @@ void QVideoPlayer::DrawCrossInImage(QImageViewer* view, QRect rect, QPen pen)
 }
 
 
-void QVideoPlayer::DrawSkyLine(QImageViewer* view,int y)
+void QVideoPlayer::DrawSkyLine(QImageViewer* view)
 {
+    int skyY = ARIDLL_GetSkyLineY(pEOTracker);
 
+    if (skyY > 0)
+    {
+        QGraphicsScene* scene = view->imgScene;
 
+        scene->addLine(QLine(0, skyY, 640, skyY), QPen(QBrush(QColor(Qt::red)),3,Qt::DashDotLine));
+    }
 }
 
 void QVideoPlayer::DrawGuideRect()

QGuideArithStudio/src/QVideoPlayer.h

@@ -243,7 +243,7 @@ private:
     void PrintTableInfo();
 
     // 绘制天地线
-    void DrawSkyLine(QImageViewer* view, int y);
+    void DrawSkyLine(QImageViewer* view);
 
     // 绘制导引区域
     void DrawGuideRect();