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# S3315算法功能说明
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S3315项目为某高性能微波防空设备，跟踪算法基于12-12版基线代码开发
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相较基线功能，存在如下改动：
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## Arith_SysStruct.h
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1.默认帧频 50Hz，记忆帧数150帧（3s），最大目标检测个数 50（小） + 10（面）
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新增标记
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```
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bEnForceGuidel; // 半自动截获强制提取目标3s
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BBOOL bTracking; // 管道被跟踪标记，用于标记辅跟踪目标
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SINT32 nShowPipeID; //送显批号
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```
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## Arith_EOController.cpp
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2.g_TrackCurrentID = 2; //辅跟踪目标默认从2开始，仅控制显示输出
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```
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//点选取消辅跟踪目标
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void Arith_EOController::GLB_Cancle_Point(SINT32 nPipeNum,POINT32S ptCanclePos)
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{
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SINT32 nSelecID = -1;
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SINT32 nNearstDis = 999999;
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// 便历距离最近的跟踪器
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for (int i = 0; i < nPipeNum; i++)
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{
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PIPE* pPipe = &g_GLB_PipeProc->getPipeArray()[i];
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if (!pPipe->bTracking || pPipe->bTrackingPipe) //1号目标或非辅跟踪目标跳过
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{
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continue;
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}
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SINT32 disX = ABS(pPipe->ptCurrentPnt.x - ptCanclePos.x);
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SINT32 disY = ABS(pPipe->ptCurrentPnt.y - ptCanclePos.y);
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SINT32 nDis2 = disX * disX + disY * disY;
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if (nDis2 < nNearstDis)
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{
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nNearstDis = nDis2;
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nSelecID = i;
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}
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}
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if (-1 != nSelecID)
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{
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PIPE* pPipe = &g_GLB_PipeProc->getPipeArray()[nSelecID];
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pPipe->bTracking = FALSE;
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pPipe->nDelCntThres = GLB_PIPE_DEL_MIN_STARE;
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}
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}
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```
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## Arith_Status_SEARCH.cpp
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```
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//强制提取
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SINT32 Arith_EOController::Proc_ForceLock(GD_VIDEO_FRAME_S img, GLB_INPUT& g_Input, GLB_PARAMETERS& g_para)
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{
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SINT32 nTrackPipeID = -1;
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SINT32 nWidth = img.u32Width;
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SINT32 nHeight = img.u32Height;
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//3s强制提取由外部控制
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// 对空模式可以转压点强制提取
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if (GLB_SCEN_SKY == g_GLB_stPara.nWorkScene)
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{
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TARGET_OBJECT tTargetRe = { 0 };
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SPEED32F sfAglSpeed = { 0 };
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TARGET_OBJECT* Temp_Target_Array = g_GLB_Detectors->GetTargetArray();
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SINT32 Temp_nTargetNum = 0;
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g_GLB_stPara.snLockBoxSize.w = 40;
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g_GLB_stPara.snLockBoxSize.h = 40;
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MINMAXRECT mmCenterRect = { g_GLB_stPara.ptLockPos.x - g_GLB_stPara.snLockBoxSize.w / 2, g_GLB_stPara.ptLockPos.y - g_GLB_stPara.snLockBoxSize.h / 2 ,
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g_GLB_stPara.ptLockPos.x + g_GLB_stPara.snLockBoxSize.w / 2 ,g_GLB_stPara.ptLockPos.y + g_GLB_stPara.snLockBoxSize.h / 2 };
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BBOOL bPipeReObjFound = g_GLB_Detectors->pDST_Module->DST_PipeTargetReDetect(img, nWidth, nHeight,
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g_GLB_stPara.ptLockPos, sfAglSpeed,
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mmCenterRect,
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&tTargetRe, &nTrackPipeID,Temp_Target_Array, &Temp_nTargetNum);
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// 还没有检出，执行第三次超级弱小目标检测
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if (!bPipeReObjFound)
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{
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BBOOL bPipeSeObjFound = g_GLB_Detectors->pDST_Module->DST_PipeTargetRReDetect(img, nWidth, nHeight,
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g_GLB_stPara.ptLockPos, sfAglSpeed,
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mmCenterRect,
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&tTargetRe, &nTrackPipeID,Temp_Target_Array, &Temp_nTargetNum);
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}
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nTrackPipeID = g_GLB_PipeProc->SO_ForceLock(img,
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g_GLB_stPara.ptLockPos, g_GLB_stPara.snLockBoxSize, Temp_Target_Array, Temp_nTargetNum, g_Input);
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}
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// 对地模式转固定波门框选
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if (GLB_SCEN_GROUND == g_GLB_stPara.nWorkScene)
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{
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nTrackPipeID = g_GLB_PipeProc->SO_RectLock(img,
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g_GLB_stPara.ptLockPos, g_GLB_stPara.snLockBoxSize, g_Input);
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}
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return nTrackPipeID;
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}
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```
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## NeoArithStandardDll.cpp
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```
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//取消跟踪接口
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STD_TRACKER_API void ARIDLL_unLockCommand(ArithHandle hArithSrc)
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// 当前帧平台姿态----姿态值与方位俯仰重复
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Input->afPlatformRPY = { 0 };
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// 输出管道稳定目标
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void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutput)
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{
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·······
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//显式输出算法状态
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//对输出目标进行排序，防止ARM转发取差量时跳动
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for (int i = 0; i < pstOutput->nTrackObjCnts; i++)
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{
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ARIDLL_OBJINFO trackObj_temp_i = pstOutput->stTrackers[i];
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for (int j = i+1; j < pstOutput->nTrackObjCnts; j++)
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{
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//ARIDLL_OBJINFO trackObj_temp_j = pstOutput->stTrackers[j];
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if (pstOutput->stTrackers[j].nOutputID < trackObj_temp_i.nOutputID)
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{
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pstOutput->stTrackers[i] = pstOutput->stTrackers[j];
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pstOutput->stTrackers[j] = trackObj_temp_i;
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}
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}
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}
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if(2 == pstOutput->nStatus)//搜索状态
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{
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if (pstOutput->nAlarmObjCnts > 0)
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{
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pstOutput->nStatus = 11; //自动截获状态
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}
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if (pArith->g_GLB_stPara.bEnForceGuide)
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{
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pstOutput->nStatus = 12; //半自动截获状态
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}
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}
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//if (3 == pstOutput->nStatus || 5 == pstOutput->nStatus || 9 == pstOutput->nStatus)//跟踪状态
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//{
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if (pstOutput->nTrackObjCnts > 0)
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{
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pstOutput->nStatus = 3; //单目标跟踪
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}
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if (pstOutput->nTrackObjCnts > 1)
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{
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pstOutput->nStatus = 9; //多目标跟踪
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}
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//}
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int Index = ARIDLL_Sort_PipeByDistance(pArith, pstOutput);
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if (0 < Index)
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{
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ARIDLL_OBJINFO TempObj = pstOutput->stAlarmObjs[0];
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pstOutput->stAlarmObjs[0] = pstOutput->stAlarmObjs[Index];
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pstOutput->stAlarmObjs[Index] = TempObj;
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}
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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);
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}
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```
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```
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//点选锁定及取消辅跟踪目标接口
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STD_TRACKER_API ARIDLL_OBJINFO ARIDLL_LockOrUnLock(ArithHandle hArithSrc, GD_VIDEO_FRAME_S img, int nX, int nY, int Radius)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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PIPE* pPipeArray = pArith->g_GLB_PipeProc->getPipeArray();
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int MaxPipeNum = pArith->g_GLB_PipeProc->PIPE_GetMaxPipeNum();
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// 返回目标
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ARIDLL_OBJINFO obj = { 0 };
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int UnLockIndex = -1;
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LOG_DEBUG("LOCK_X:{},LOCK_Y:{}", nX, nY);
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if (0 != nX && 0 != nY)
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{
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for (int i = 0; i < MaxPipeNum; ++i)
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{
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PIPE* pPipeTemp = &pPipeArray[i];
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if (!pPipeTemp->bTracking)
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{
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continue;
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}
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if (pPipeTemp->ptCurrentPnt.x > nX + Radius || pPipeTemp->ptCurrentPnt.x < nX - Radius ||
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pPipeTemp->ptCurrentPnt.y > nY + Radius || pPipeTemp->ptCurrentPnt.y < nY - Radius)
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{
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continue;
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}
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UnLockIndex = i;
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}
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}
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if (-1 != UnLockIndex)
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{
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PIPE* pPipe = &pPipeArray[UnLockIndex];
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obj.unTrackingStatus = TrackingStatus::NOT_TRACKING;
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pPipe->bTracking = FALSE;
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pPipe->nDelCntThres = GLB_PIPE_DEL_MIN_STARE;
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if (pPipe != NULL)
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{
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// 管道中最新目标
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TARGET_OBJECT* pTarget = &pPipe->objHistoryList[pPipe->ubEnd];
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//obj.nInPipesID = pATarget->nInPipesID_1 - 1;
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obj.bInCurrFov = pPipe->bInsideFOV;
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obj.nPipeLostCnt = pPipe->unLostCnt;
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obj.nTotalCnt = pPipe->unTotalCnt;
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obj.fAz = pPipe->afStopAgl.fAz;
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obj.fPt = pPipe->afStopAgl.fPt;
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obj.fProb = pPipe->fConfidence;
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obj.nFrameId = pPipe->nLostFrmID;
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obj.nX = pPipe->ptCurrentPnt.x;
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obj.nY = pPipe->ptCurrentPnt.y;
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obj.nObjW = pTarget->snSize.w;
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obj.nObjH = pTarget->snSize.h;
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obj.nOutputID = pPipe->nAlarmBatchID_1;
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// 若有外部引导批号，则上报该批号
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if (pPipe->nGuideBatchID > 0)
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{
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obj.nOutputID = pPipe->nGuideBatchID;
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}
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}
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}
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else
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{
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//obj = ARIDLL_LockTarget(pArith, img, nX, nY, 0, 0);
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ARIDLL_LockCommand(pArith, nX, nY, 0, 0);
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}
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return obj;
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}
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```
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```
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//排序输出距离中心最近目标索引
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STD_TRACKER_API int ARIDLL_Sort_PipeByDistance(ArithHandle hArithSrc, ARIDLL_OUTPUT* pstOutput)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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float centre_x = pArith->g_GLB_stInput.nImageWidth / 2.f;
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float centre_y = pArith->g_GLB_stInput.nImageHeight / 2.f;
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float min_distance = 99999999;
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int Index = -1;
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for (int i = 0; i < pstOutput->nAlarmObjCnts; ++i)
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{
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float distance = (pstOutput->stAlarmObjs[i].nX - centre_x) * (pstOutput->stAlarmObjs[i].nX - centre_x) +
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(pstOutput->stAlarmObjs[i].nY - centre_y) * (pstOutput->stAlarmObjs[i].nY - centre_y);
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if (distance < min_distance)
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{
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Index = i;
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min_distance = distance;
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}
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}
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return Index;
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}
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```
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11566hyc
4 months ago