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20250821K2基地修改参数版本 V1.3.2

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wangchongwu 4 months ago
parent f6a3bede36
commit 65a2e8b7f6
8 changed files with 58 additions and 18 deletions
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2
CMakeLists.txt
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@ -61,7 +61,7 @@ ENABLE_TESTING()
# opencv + TensorRT # opencv + TensorRT
IF(WIN32) IF(WIN32)
set(OpenCV_DIR "D:/Opencv_v/4.8.1/build/install/x64/vc17/lib") set(OpenCV_DIR "C:/opencv/build/x64/vc15/lib")
set(TRT_DIR "D:/TensorRT/TensorRT7") set(TRT_DIR "D:/TensorRT/TensorRT7")
ELSE(WIN32) ELSE(WIN32)
set(OpenCV_DIR "/home/wcw/opencv-3.4.16/install/share/OpenCV") set(OpenCV_DIR "/home/wcw/opencv-3.4.16/install/share/OpenCV")

2
NeoTracker/src/Arith_Status_SEARCH.cpp
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@ -156,7 +156,7 @@ SINT32 Arith_EOController::Proc_SearchLock(GD_VIDEO_FRAME_S img, GLB_INPUT & g_I
pDAT_stPara->nDetectGrayType = GLB_OBJ_GRAY_BRIGHT; pDAT_stPara->nDetectGrayType = GLB_OBJ_GRAY_BRIGHT;
} }
else else
{//未设置时亮暗目标都检测 { //未设置时亮暗目标都检测
// 局部小目标检测器 // 局部小目标检测器
pDST_stPara->nDetectGrayType = GLB_OBJ_GRAY_ALL; pDST_stPara->nDetectGrayType = GLB_OBJ_GRAY_ALL;
// 局部面目标检测器 // 局部面目标检测器

26
NeoTracker/src/Arith_TrackSAObj.cpp
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@ -667,7 +667,7 @@ void SA_Tracker::SARegionDet(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, SINT3
pDST_Module->SetCombinDist(nCombinDist); pDST_Module->SetCombinDist(nCombinDist);
pDST_Module->Detect(img, m_TSA_Input.crCenterRect, GLB_STATUS_TRACK); SINT32 nSmallTargetNum = pDST_Module->Detect(img, m_TSA_Input.crCenterRect, GLB_STATUS_TRACK);
// 小目标可以开面目标检测 // 小目标可以开面目标检测
if (bEnableAreaObjDetect) if (bEnableAreaObjDetect)
{ {
@ -679,7 +679,7 @@ void SA_Tracker::SARegionDet(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, SINT3
// 面目标跟踪模式 // 面目标跟踪模式
if (m_SizeMode == SizeType::AreaTarget) if (m_SizeMode == SizeType::AreaTarget)
{ {
pDAT_Module->Detect(img, m_TSA_Input.crCenterRect, nObjCombineDist, GLB_STATUS_TRACK); SINT32 nAreaTargetNum = pDAT_Module->Detect(img, m_TSA_Input.crCenterRect, nObjCombineDist, GLB_STATUS_TRACK);
m_TSA_output.crCenterRect = pDAT_Module->getDAT_stOutput()->crCenterRect; m_TSA_output.crCenterRect = pDAT_Module->getDAT_stOutput()->crCenterRect;
m_TSky_Output->mTrakingPara_Output.nAreaCombineDist = nObjCombineDist; // 面目标合并距离调试输出 m_TSky_Output->mTrakingPara_Output.nAreaCombineDist = nObjCombineDist; // 面目标合并距离调试输出
} }
@ -1262,7 +1262,7 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
ABS(ptTarget->snSize.h - pPipe->ObjectFilter.sfSize.h) > 3 * nDSmpScale || ABS(ptTarget->snSize.h - pPipe->ObjectFilter.sfSize.h) > 3 * nDSmpScale ||
ABS(ptTarget->snSize.w - pPipe->ObjectFilter.sfSize.w) > 3 * nDSmpScale) && m_LockingPipe->unLostCnt < GLB_FRM_FREQ) ABS(ptTarget->snSize.w - pPipe->ObjectFilter.sfSize.w) > 3 * nDSmpScale) && m_LockingPipe->unLostCnt < GLB_FRM_FREQ)
{ {
continue; //continue;
} }
} }
@ -1311,7 +1311,18 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
// 阈值调整 // 阈值调整
if (pPipe->unLostCnt < 20) if (pPipe->unLostCnt < 3)
{
fSScaleChangeLowThres = 0.3;
fSScaleChangeHighThres = 3.f;
fAScaleChangeLowThres = 0.5;
fAScaleChangeHighThres = 2.0;
nLastDiffThresX = MAX(nMoveMin, 6);
nLastDiffThresY = MAX(nMoveMin, 6);
nPredictDiffThresX = MAX(nFThreMin, 6);
nPredictDiffThresY = MAX(nFThreMin, 6);
}
else if (pPipe->unLostCnt < 20)
{ {
fSScaleChangeLowThres = 0.3; fSScaleChangeLowThres = 0.3;
fSScaleChangeHighThres = 3.f; fSScaleChangeHighThres = 3.f;
@ -1369,11 +1380,12 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
fPixChange = (FLOAT32)(ptTarget->unObjPxlsCnt) / MAX(ptMainTarget->unObjPxlsCnt, 0.001f); fPixChange = (FLOAT32)(ptTarget->unObjPxlsCnt) / MAX(ptMainTarget->unObjPxlsCnt, 0.001f);
// 大于DAT_TARGET_MIN的目标可能是临界目标 // 大于DAT_TARGET_MIN的目标可能是临界目标
if (ptTarget->unObjPxlsCnt < 6 || ptMainTarget->unObjPxlsCnt < 6) if (ptTarget->unObjPxlsCnt < 9 || ptMainTarget->unObjPxlsCnt < 9)
{ {
if (fSScaleChangeHighThres < fPixChange || fSScaleChangeLowThres > fPixChange) if ((ptTarget->unObjPxlsCnt == 1)
&& (fSScaleChangeHighThres < fPixChange || fSScaleChangeLowThres > fPixChange))
{ {
fSimMax = -1; //fSimMax = -1;
} }
} }
else if (fSScaleChangeHighThres < fSizeChange || fSScaleChangeLowThres > fSizeChange)//均为面目标的情形 else if (fSScaleChangeHighThres < fSizeChange || fSScaleChangeLowThres > fSizeChange)//均为面目标的情形

4
NeoTracker/src/Detect/Arith_DetectAreaObj.cpp
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@ -1072,8 +1072,8 @@ void DetectAreaObj::DAT_Initialization(SINT32 nWidth, SINT32 nHeight, CENTERRECT
m_DAT_stPara.nObjSizeMax = DAT_TARGET_PXLS_MAX; m_DAT_stPara.nObjSizeMax = DAT_TARGET_PXLS_MAX;
m_DAT_stPara.nObjWidthMax = DAT_TARGET_WIDTH_MAX; m_DAT_stPara.nObjWidthMax = DAT_TARGET_WIDTH_MAX;
m_DAT_stPara.nObjHeightMax = DAT_TARGET_HEIGHT_MAX; m_DAT_stPara.nObjHeightMax = DAT_TARGET_HEIGHT_MAX;
m_DAT_stPara.fObjWHRatioMin = 0.4f; m_DAT_stPara.fObjWHRatioMin = 0.2f;
m_DAT_stPara.fObjWHRatioMax = 4.0f; m_DAT_stPara.fObjWHRatioMax = 5.0f;
m_DAT_stPara.fObjRectRatioMin = 0.3f; m_DAT_stPara.fObjRectRatioMin = 0.3f;
m_DAT_stPara.nObjBkgGrayDiffMin = 10; m_DAT_stPara.nObjBkgGrayDiffMin = 10;
m_DAT_stPara.fBkgGrayDiffCoeff = 0.35f; m_DAT_stPara.fBkgGrayDiffCoeff = 0.35f;

9
NeoTracker/src/Detect/Arith_DetectSmallObj.cpp
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@ -142,7 +142,9 @@ void DetectSmallObj::setDstParm(Param_SkyDetect* param)
m_DST_stPara.nDetectGrayType = param->nDetectGrayType; m_DST_stPara.nDetectGrayType = param->nDetectGrayType;
m_DST_stPara.nObjSizeMin = param->nObjSizeMin; m_DST_stPara.nObjSizeMin = param->nObjSizeMin;
m_DST_stPara.nObjSizeMax = param->nObjSizeMax;
m_DST_stPara.bEnableDimDetect = param->bEnableDetcetDimTarget;
} }
@ -322,7 +324,7 @@ void DetectSmallObj::DST_Initialization(SINT32 nWidth, SINT32 nHeight, CENTERREC
m_DST_stPara.fObjWHRatioMax = 5.0f; m_DST_stPara.fObjWHRatioMax = 5.0f;
m_DST_stPara.fObjRectRatioMin = 0.2f; m_DST_stPara.fObjRectRatioMin = 0.2f;
m_DST_stPara.nBGObjNumThres = 2; m_DST_stPara.nBGObjNumThres = 2;
m_DST_stPara.nBTGrayMinThres = 10; m_DST_stPara.nBTGrayMinThres = 5;
m_DST_stPara.bDimDetecting = false; m_DST_stPara.bDimDetecting = false;
m_DST_stPara.bEnableDimDetect = false; m_DST_stPara.bEnableDimDetect = false;
@ -1183,7 +1185,6 @@ SINT32 DetectSmallObj::DST_DetectFrameTarget(GD_VIDEO_FRAME_S img, SINT32 nWidth
continue; continue;
} }
//查看此极值点，前面（上面和左边）4个极值点是否已被判断为目标， //查看此极值点，前面（上面和左边）4个极值点是否已被判断为目标，
//若当前点落在该目标的上下左右边界之内，或者与该目标距离小于阈值，则将当前点删除不处理 //若当前点落在该目标的上下左右边界之内，或者与该目标距离小于阈值，则将当前点删除不处理
//UINT16 pxPntGray = pFrame[pPnt.y * nWidth + pPnt.x];//from S332 //UINT16 pxPntGray = pFrame[pPnt.y * nWidth + pPnt.x];//from S332
@ -3359,7 +3360,7 @@ BBOOL DetectSmallObj::DST_BlkMaxTargetDetect(GD_VIDEO_FRAME_S img, SINT32 nWidth
&& !m_DST_stPara.bDimDetecting && !m_DST_stPara.bDimDetecting
&& !m_DST_stPara.bSecDetecting && !m_DST_stPara.bSecDetecting
&& (ptTarget->unObjPxlsCnt < (UINT32)m_DST_stPara.nObjSizeMin && (ptTarget->unObjPxlsCnt < (UINT32)m_DST_stPara.nObjSizeMin
|| ptTarget->unObjPxlsCnt >(UINT32)m_DST_stPara.nObjSizeMax)) /*|| ptTarget->unObjPxlsCnt >(UINT32)m_DST_stPara.nObjSizeMax*/))
{ {
bIsTarget = false; bIsTarget = false;
} }

4
NeoTracker/src/Detect/Arith_DetectSmallObj.h
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@ -102,13 +102,13 @@
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//小目标检测参数 //小目标检测参数
//gdk阈值 //gdk阈值
#define DST_OBJ_SNR_MIN 5.0f//目标SNR下限 #define DST_OBJ_SNR_MIN 4.0f//目标SNR下限
//目标大小 //目标大小
#define DST_OBJ_SIZE_MIN 1 //目标大小下限 #define DST_OBJ_SIZE_MIN 1 //目标大小下限
//背景标准差限制 //背景标准差限制
#define DST_Bm_STD_LIMIT_MIN 3 //极大值滤波窗口-背景标准差下限 #define DST_Bm_STD_LIMIT_MIN 2 //极大值滤波窗口-背景标准差下限
#define DST_Bm_STD_LIMIT_MAX 50 //极大值滤波窗口-背景标准差上限 #define DST_Bm_STD_LIMIT_MAX 50 //极大值滤波窗口-背景标准差上限
//目标宽高比计算方式 //目标宽高比计算方式

27
NeoTracker/src/NeoArithStandardDll.cpp
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@ -106,7 +106,19 @@ STD_TRACKER_API int ARIDLL_SearchFrameTargets(ArithHandle hArithSrc, GD_VIDEO_FR
pArith->g_GLB_Detectors->m_FrmObjsCnt = nFrmTargetNum; pArith->g_GLB_Detectors->m_FrmObjsCnt = nFrmTargetNum;
return nFrmTargetNum; return nFrmTargetNum;
} }
nFrmTargetNum = pArith->g_GLB_Detectors->Detect(img); nFrmTargetNum = pArith->g_GLB_Detectors->Detect(img);
//if (pArith->g_GLB_stPara.nStatus != GLB_STATUS_MOTRACK)
//{
// nFrmTargetNum = pArith->g_GLB_Detectors->Detect(img);
//}
//else
//{
// pArith->g_GLB_Detectors->m_FrmObjsCnt = 0;
//}
//// 检测队列 //// 检测队列
//TARGET_OBJECT* pFrameTargetArray = pArith->g_GLB_Detectors->GetTargetArray(); //TARGET_OBJECT* pFrameTargetArray = pArith->g_GLB_Detectors->GetTargetArray();
@ -623,6 +635,12 @@ void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutpu
} }
} }
} }
//仅用于对外送显状态显示 //仅用于对外送显状态显示
if(2 == pstOutput->nStatus)//搜索状态 if(2 == pstOutput->nStatus)//搜索状态
{ {
@ -654,6 +672,15 @@ void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutpu
pstOutput->stAlarmObjs[0] = pstOutput->stAlarmObjs[Index]; pstOutput->stAlarmObjs[0] = pstOutput->stAlarmObjs[Index];
pstOutput->stAlarmObjs[Index] = TempObj; pstOutput->stAlarmObjs[Index] = TempObj;
} }
// 跟踪状态不送显示
if (pstOutput->nTrackObjCnts > 0)
{
memset(pstOutput->stAlarmObjs, 0, ST_OBJ_NUM * sizeof(ARIDLL_OBJINFO));
pstOutput->nAlarmObjCnts = 0;
}
LOG_DEBUG_OUTPUT("stAlarmObjs[0]：nX:{},nY:{}; stTrackers[0]：nX:{},nY:{}", pstOutput->stAlarmObjs[0].nX, pstOutput->stAlarmObjs[0].nY, pstOutput->stTrackers[0].nX, pstOutput->stTrackers[0].nY); LOG_DEBUG_OUTPUT("stAlarmObjs[0]：nX:{},nY:{}; stTrackers[0]：nX:{},nY:{}", pstOutput->stAlarmObjs[0].nX, pstOutput->stAlarmObjs[0].nY, pstOutput->stTrackers[0].nX, pstOutput->stTrackers[0].nY);
} }

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 1.3.1"; std::string VERSION = "BUILD_VERSION 1.3.2";

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