1.增加屏蔽管道输出功能

NeoTracker/src/Common/Arith_SysStruct.h

@@ -516,6 +516,9 @@ typedef struct tagGlbParameters
     BBOOL  bGuideCanLockSAPipe; //导引锁定AI无法识别目标开关
     SINT16 nSkyLinePointsNum;                                // 实际外部标定点个数
     ANGLE32F skyLinePoints[GLB_SKYLINE_MAX_POINT];           // 天地线标定点数组
+
+    BBOOL   bFiteredAlarm;           // 告警屏蔽使能开关
+    FLOAT32 fFilterPt;               // 告警过滤俯仰角
 } GLB_PARAMETERS;
 
 // ++++++++定义算法每帧输入信息

NeoTracker/src/NeoArithStandardDll.cpp

@@ -599,6 +599,10 @@ void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutpu
         {
             if (pstOutput->nAlarmObjCnts < ST_OBJ_NUM - 1)
             {
+                if (pArith->g_GLB_stPara.bFiteredAlarm && obj.fPt < pArith->g_GLB_stPara.fFilterPt)
+                {
+                    continue;
+                }
                 memcpy(pt_detObj, &obj, sizeof(ARIDLL_OBJINFO));
                 pstOutput->nAlarmObjCnts++;
             }
@@ -867,4 +871,21 @@ STD_TRACKER_API int ARIDLL_Sort_PipeByDistance(ArithHandle hArithSrc, ARIDLL_OUT
         }
     }
     return Index;
+}
+
+STD_TRACKER_API void ARIDLL_Filter_Alarm_Pipe(ArithHandle hArithSrc, int nX, int nY, bool bFitered)
+{
+    Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
+
+    POINT32F   pfCenPos = {FLOAT32(nX), FLOAT32(nY)};
+    //// 转惯性系
+    Pole polenue = getStablePoleFromImagePos(pfCenPos, 
+                                pArith->g_GLB_stInput.stCamera, 
+                                pArith->g_GLB_stInput.servoInfo, 
+                                pArith->g_GLB_stInput.afPlatformRPY, 
+                                pArith->g_GLB_stInput.setupErr);
+
+    // 目标角度赋值为大地坐标系
+    pArith->g_GLB_stPara.fFilterPt = (FLOAT32)polenue.alpha;
+    pArith->g_GLB_stPara.bFiteredAlarm = bFitered;
 }

NeoTracker/src/NeoArithStandardDll.h

@@ -445,6 +445,21 @@ STD_TRACKER_API int ARIDLL_Sort_PipeByDistance(ArithHandle hArithSrc, ARIDLL_OUT
 *********************************************************/
 STD_TRACKER_API bool ARIDLL_Read_Config(ArithHandle hArithSrc, const char* ConfigPath);
 
+/*************************************
+* 函数名称:            ARIDLL_Filter_Alarm_Pipe()
+* 功能描述:            3315新增需求，给定坐标点和使能标记，对低于坐标点俯仰角度的管道进行屏蔽
+* 创建日期:            2025/8/15
+* 输入参数:            ArithHandle hArithSrc:算法句柄
+* 输入参数:            int nX:屏蔽下发x坐标点
+* 输入参数:            int nY:屏蔽下发y坐标点
+* 输入参数:            bool bFitered：屏蔽下发使能开关
+* 输出参数:            无
+* 返回值:              STD_TRACKER_API void
+* 调用关系:            无
+* 其它说明:            无
+*************************************/
+STD_TRACKER_API void ARIDLL_Filter_Alarm_Pipe(ArithHandle hArithSrc, int nX, int nY, bool bFitered);
+
 #ifdef __cplusplus
 }
 #endif

QGuideArithStudio/src/ArithControlForm.cpp

@@ -87,6 +87,16 @@ void ArithControlForm::testCmd()
     ARIDLL_GuideLockMultiCommand(pEOTracker, guideList,1);
 }
 
+void ArithControlForm::testAlarmFilter()
+{
+    bool bFitered = ui->lineEdit_Filter->text().toInt();
+    int nX = ui->lineEdit_Filter_X->text().toInt();
+    int nY = ui->lineEdit_Filter_Y->text().toInt();
+
+    ARIDLL_Filter_Alarm_Pipe(pEOTracker, nX, nY, bFitered);
+}
+
+
 void ArithControlForm::ChangeLockRect()
 {
     QPushButton* button = qobject_cast<QPushButton*>(sender());
@@ -187,7 +197,7 @@ void ArithControlForm::InitUIStatus()
     connect(ui->pushButton_GuideCMD, &QPushButton::clicked, this, &ArithControlForm::testCmd);
     connect(ui->Button_readJson, &QPushButton::clicked, this, &ArithControlForm::readJson);
     connect(ui->Button_saveJson, &QPushButton::clicked, this, &ArithControlForm::writeJson);
-
+    connect(ui->pushButton_AlarmFilterCMD, &QPushButton::clicked, this, &ArithControlForm::testAlarmFilter);
 
 
     // 接口测试

QGuideArithStudio/src/ArithControlForm.h

@@ -55,6 +55,8 @@ public slots:
 
     void testCmd();
 
+    void testAlarmFilter();
+
     void ChangeLockRect();
 
     void CMD_testLockByID();

QGuideArithStudio/src/ArithControlForm.ui

@@ -45,7 +45,7 @@
        </sizepolicy>
       </property>
       <property name="currentIndex">
-       <number>0</number>
+       <number>1</number>
       </property>
       <widget class="QWidget" name="tab_3">
        <attribute name="title">
@@ -280,6 +280,7 @@
              </property>
              <property name="font">
               <font>
+               <weight>75</weight>
                <bold>true</bold>
               </font>
              </property>
@@ -317,6 +318,7 @@
              </property>
              <property name="font">
               <font>
+               <weight>75</weight>
                <bold>true</bold>
               </font>
              </property>
@@ -397,6 +399,7 @@
              </property>
              <property name="font">
               <font>
+               <weight>75</weight>
                <bold>true</bold>
               </font>
              </property>
@@ -472,7 +475,7 @@
               <string>多目标</string>
              </property>
              <property name="checked">
-               <bool>true</bool>
+              <bool>true</bool>
              </property>
             </widget>
            </item>
@@ -784,6 +787,58 @@
          </item>
         </layout>
        </widget>
+       <widget class="QGroupBox" name="groupBox_7">
+        <property name="geometry">
+         <rect>
+          <x>170</x>
+          <y>210</y>
+          <width>161</width>
+          <height>133</height>
+         </rect>
+        </property>
+        <property name="title">
+         <string>告警屏蔽</string>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_10">
+         <item row="1" column="1">
+          <widget class="QLineEdit" name="lineEdit_Filter_X"/>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_6">
+           <property name="text">
+            <string>x坐标</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QLineEdit" name="lineEdit_Filter_Y"/>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_7">
+           <property name="text">
+            <string>y坐标</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0" colspan="2">
+          <widget class="QPushButton" name="pushButton_AlarmFilterCMD">
+           <property name="text">
+            <string>屏蔽触发</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_5">
+           <property name="text">
+            <string>使能开关</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLineEdit" name="lineEdit_Filter"/>
+         </item>
+        </layout>
+       </widget>
       </widget>
       <widget class="QWidget" name="tab_2">
        <attribute name="title">