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431 lines
16 KiB
431 lines
16 KiB
#include "debugExport.h"
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#include "Arith_EOController.h"
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#include "Arith_CoordModule.h"
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void ARIDLL_GetDeBugOutput(ArithHandle hArithSrc, ARIDLL_INPUTPARA* stInputPara, ARIDLL_DEBUG_OUTPUT* pstOutput, GLB_OUTPUT* pGlb_Output)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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// 输出单帧检测结果
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TARGET_OBJECT* pFrameTargets = pArith->g_pFrameTargetArray;
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ARIDLL_DEBUG_OUTPUT* info = pstOutput;
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info->nDetectObjsNum = MIN(pArith->g_TotalTargetNum, 50);
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// memcpy(info->stFrameObjsInfo,pFrameTargets,sizeof(TARGET_OBJECT) * info->nDetectObjsNum);
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info->Arith_time = pArith->g_GLB_stArithPara.fArithRunTimes;
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// 管道资源占用
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info->nMaxPipeNum = pArith->g_GLB_PipeProc->PIPE_GetMaxPipeNum();
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info->nUsePipeNum = pArith->g_GLB_PipeProc->PIPE_GetOccupyNum();
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Tracker* pTracker = pArith->g_GLB_Trackers[pArith->g_GLB_stPara.nLockPipeInd];
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if (pTracker != NULL && pTracker->pGroundTracker)
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{
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OBJECTSTATUS *pDeciOutput = &pTracker->pGroundTracker->ObjStatus;
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OBJECTSTATUS *pKCFOutput = &pTracker->pGroundTracker->ObjStatusKCF;
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OccJudge* pOccJudgeKCF = pTracker->pGroundTracker->m_pOccJudgeKCF;
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TargetArrest* pArrestOut = pTracker->pGroundTracker->m_pTargetArrest;
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TLD_Para* pTLDPara = pTracker->pGroundTracker->m_pTLDTracker->TLD_GetPara();
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// 注意：不要对临时变量取地址，改为返回指针
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MASTERAIDMONITOR *masterMonitor = pTracker->pGroundTracker->Ai_DMonitor->getAIDMasterInfo();
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AIDMAINOBJ *nMainAIObj = &masterMonitor->nMainInfo;
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//对地调试参数传值
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info->fKCFRes = pKCFOutput->fConfidence;
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info->nLearnCnt = pTLDPara->nLearnedNum;
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info->nTLDNum = pTLDPara->nClusterNum;
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info->fMaxNNConf = pTLDPara->fNNConfMax;
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info->fLargeResTH = pOccJudgeKCF->m_Occ_Para.fFilteredMaxRes;
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info->fArrKCFRes = pArrestOut->m_fArrestKcfRes;
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info->nOccKCFStatus = pOccJudgeKCF->nOccKCFStatus;
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info->nArrestKCFStatus = pArrestOut->m_nArrestKCFStatus;
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info->nArrestAIStatus = pArrestOut->m_nArrestAIStatus;
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info->nOccAIDStatus = pTracker->pGroundTracker->Ai_DMonitor->m_ubLostStatus;
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info->nArrestAIDStatus = pTracker->pGroundTracker->Ai_DMonitor->m_ubArrestStatus;
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info->nAIDBestId = nMainAIObj->nTrackId;
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info->nAIDLostCnt = nMainAIObj->unContiLostCnt;
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info->unContiTrackedCnt = nMainAIObj->unContiTrackedCnt;
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info->nArrestNum = masterMonitor->nTargetNum;
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info->nAIDJamCnt = nMainAIObj->nJamCnt;
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info->nDecisionStatus = pDeciOutput->nDeciStatus;
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info->nKcfStatus = pKCFOutput->nOcclude_flag;
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info->nX = (int)pDeciOutput->ptPos.x;
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info->nY = (int)pDeciOutput->ptPos.y;
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info->nW = (int)pDeciOutput->sfSize.w;
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info->nH = (int)pDeciOutput->sfSize.h;
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pGlb_Output->fKCFRes = pKCFOutput->fConfidence;
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pGlb_Output->nLearnCnt = pTLDPara->nLearnedNum;
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pGlb_Output->nTLDNum = pTLDPara->nClusterNum;
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pGlb_Output->fMaxNNConf = pTLDPara->fNNConfMax;
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pGlb_Output->fLargeResTH = pOccJudgeKCF->m_Occ_Para.fFilteredMaxRes;
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pGlb_Output->fArrKCFRes = pArrestOut->m_fArrestKcfRes;
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}
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else if (pTracker != NULL && pTracker->pSkyTracker)
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{
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//UBYTE8 ubBkgIndex = 0;
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//BBOOL bComplexEnv = FALSE;
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//BBOOL bInterferenceMem = FALSE;
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//UBYTE8 bInfrnDirection = 0;
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//getBKMInform(hArithSrc, pArith->g_GLB_stPara.nLockPipeInd, NULL, NULL, &ubBkgIndex,
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// &bComplexEnv, &bInterferenceMem, &bInfrnDirection, NULL);
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//info->sky_bComplexEnv = bComplexEnv;
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//info->sky_bInterferenceMem = bInterferenceMem;
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TSky_Output* pSky_Output = GetSkyTrackerObjectStatus(hArithSrc, pArith->g_GLB_stPara.nLockPipeInd);
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// 注意：不要对临时变量取地址，改为返回指针
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MASTERAIDMONITOR* masterMonitor = pTracker->pSkyTracker->Ai_DMonitor->getAIDMasterInfo();
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AIDMAINOBJ* nMainAIObj = &masterMonitor->nMainInfo;
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info->sky_TrkDownRatio = pSky_Output->mTrakingPara_Output.prmTSkyDet.nDSmpScale;
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info->sky_TrkMemFrm = pSky_Output->ObjectStatusDesc.unContiLostCnt;
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info->sky_nTrkCX = pSky_Output->ObjectStatusDesc.ptPos.x;
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info->sky_nTrkCY = pSky_Output->ObjectStatusDesc.ptPos.y;
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info->sky_nTrkW = pSky_Output->ObjectStatusDesc.sfSize.w;
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info->sky_nTrkH = pSky_Output->ObjectStatusDesc.sfSize.h;
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info->sky_nTrkPxlsCnt = (SINT32)pSky_Output->ObjectStatusDesc.fObjPxlsCnt;
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info->sky_fTrkConf = pSky_Output->ObjectStatusDesc.fConfidence;
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pGlb_Output->sky_TrkDownRatio = pSky_Output->mTrakingPara_Output.prmTSkyDet.nDSmpScale;
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pGlb_Output->sky_TrkMemFrm = pSky_Output->ObjectStatusDesc.unContiLostCnt;
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pGlb_Output->sky_nObjTypeSrc = pSky_Output->ObjectStatusDesc.nObjTypeSrc;
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pGlb_Output->sky_nTrkCX = pSky_Output->ObjectStatusDesc.ptPos.x;
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pGlb_Output->sky_nTrkCY = pSky_Output->ObjectStatusDesc.ptPos.y;
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pGlb_Output->sky_nTrkW = pSky_Output->ObjectStatusDesc.sfSize.w;
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pGlb_Output->sky_nTrkH = pSky_Output->ObjectStatusDesc.sfSize.h;
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pGlb_Output->sky_nTrkPxlsCnt = (SINT32)pSky_Output->ObjectStatusDesc.fObjPxlsCnt;
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pGlb_Output->sky_fTrkConf = pSky_Output->ObjectStatusDesc.fConfidence;
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pGlb_Output->sky_nClassSource = pSky_Output->ObjectStatusDesc.emClsSrc;
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pGlb_Output->sky_nClsType = pSky_Output->ObjectStatusDesc.unClsType;
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pGlb_Output->sky_emFindState = pSky_Output->findState;
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pGlb_Output->sky_bComplexEnv = pSky_Output->m_bComplexEnv;
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pGlb_Output->sky_bInterferenceMem = pSky_Output->m_bInterferenceMem;
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pGlb_Output->sky_bSimIntercept = pSky_Output->m_bSimInflunce;
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pGlb_Output->sky_emTUFlag = pTracker->emTUFlag;
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info->nOccAIDStatus = pTracker->pSkyTracker->Ai_DMonitor->m_ubLostStatus;
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info->nArrestAIDStatus = pTracker->pSkyTracker->Ai_DMonitor->m_ubArrestStatus;
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info->nAIDBestId = nMainAIObj->nTrackId;
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info->nAIDLostCnt = nMainAIObj->unContiLostCnt;
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info->unContiTrackedCnt = nMainAIObj->unContiTrackedCnt;
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info->nArrestNum = masterMonitor->nTargetNum;
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info->nAIDJamCnt = nMainAIObj->nJamCnt;
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}
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else if (pTracker != NULL && pTracker->pAitTracker)
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{
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//info->AiNano_out = pTracker->pAitTracker->m_Ai_TkOut.stNanoTrack_out;
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//memcpy(info->responeMap, pTracker->pAitTracker->responeMap, sizeof(unsigned char) * 127 * 127);
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}
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}
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GLB_OUTPUT ARIDLL_Export_GLB_OUTPUT(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_stOutput;
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}
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PIPE* ARIDLL_ExportPipeArrayPtr(ArithHandle hArithSrc)
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{
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// 获取算法指针
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_PipeProc->getPipeArray();
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}
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RECT32S TLD_GetBestNNRect(ArithHandle hArithSrc, int pipeID)
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{
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RECT32S res = {0};
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Trackers[pipeID] || NULL == pArith->g_GLB_Trackers[pipeID]->pGroundTracker)
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{
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return res;
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}
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return pArith->g_GLB_Trackers[pipeID]->pGroundTracker->m_pTLDTracker->TLD_GetBestNNRect();
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}
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RECT16S* ARIDLL_AID_GetObservInfo(ArithHandle hArithSrc, int pipeID, int& num)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Trackers[pipeID])
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{
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return NULL;
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}
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if (pArith->g_GLB_Trackers[pipeID]->pGroundTracker)
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{
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num = pArith->g_GLB_Trackers[pipeID]->pGroundTracker->Ai_DMonitor->masterPipeMonitor.nNeighborCnt;
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return &pArith->g_GLB_Trackers[pipeID]->pGroundTracker->Ai_DMonitor->ObservRect;
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}
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else if (pArith->g_GLB_Trackers[pipeID]->pSkyTracker)
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{
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num = pArith->g_GLB_Trackers[pipeID]->pSkyTracker->Ai_DMonitor->masterPipeMonitor.nNeighborCnt;
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return &pArith->g_GLB_Trackers[pipeID]->pSkyTracker->Ai_DMonitor->ObservRect;
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}
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return NULL;
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}
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RECT16S* ARIDLL_AID_GetRecapRect(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Trackers[pipeID])
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{
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return NULL;
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}
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if (pArith->g_GLB_Trackers[pipeID]->pGroundTracker)
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{
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return &pArith->g_GLB_Trackers[pipeID]->pGroundTracker->Ai_DMonitor->RecapRect;
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}
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else if (pArith->g_GLB_Trackers[pipeID]->pSkyTracker)
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{
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return &pArith->g_GLB_Trackers[pipeID]->pSkyTracker->Ai_DMonitor->RecapRect;
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}
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return NULL;
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}
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POINT32F ARIDLL_GetImagePosFromStablePole(ArithHandle hArithSrc,ANGLE32F agl)
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{
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POINT32S pOut = { 0 };
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// 获取算法指针
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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Pole p = { 0};
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p.alpha = agl.fPt;
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p.beta = agl.fAz;
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POINT32F imgPos = getImagePosFromStablePole(p, pArith->g_GLB_stInput.stCamera, pArith->g_GLB_stInput.servoInfo, pArith->g_GLB_stInput.afPlatformRPY, pArith->g_GLB_stInput.setupErr);
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return imgPos;
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}
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ANGLE32F ARIDLL_GetStablePoleFromImagePos(ArithHandle hArithSrc, POINT32F fImagePos)
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{
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// 获取算法指针
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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Pole pole = getStablePoleFromImagePos(fImagePos, pArith->g_GLB_stInput.stCamera, pArith->g_GLB_stInput.servoInfo, pArith->g_GLB_stInput.afPlatformRPY, pArith->g_GLB_stInput.setupErr);
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ANGLE32F stablePole = { 0 };
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stablePole.fAz = (FLOAT32)pole.beta;
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stablePole.fPt = (FLOAT32)pole.alpha;
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return stablePole;
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}
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POINT16S* ARIDLL_GetSATracker_DSTPoint(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (pArith->g_GLB_Trackers[pipeID] == NULL)
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{
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return NULL;
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}
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return pArith->g_GLB_Trackers[pipeID]->pSkyTracker->GetDST_MaxPoint_Sky();
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}
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TARGET_OBJECT* ARIDLL_GetTrackerTarget(ArithHandle hArithSrc,int pipeID, int& num)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type == GLB_SCEN_GROUND)
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{
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num = 0;
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return NULL;
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}
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return pArith->g_GLB_Trackers[pipeID]->pSkyTracker->getTrackerSATargetList(num);
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}
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DAT_PARAMETERS* ARIDLL_GetTrkDAT_stPara(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type == GLB_SCEN_GROUND)
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{
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return NULL;
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}
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return pArith->g_GLB_Trackers[pipeID]->pSkyTracker->pSATracker->pDAT_Module->GetDatParm();
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}
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DAT_PARAMETERS* ARIDLL_GetDAT_stPara(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Detectors || NULL == pArith->g_GLB_Detectors->pDAT_Module)
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{
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return NULL;
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}
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return pArith->g_GLB_Detectors->pDAT_Module->GetDatParm();
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}
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DAT_OUTPUT* ARIDLL_GetDAT_stOutput(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Detectors || NULL == pArith->g_GLB_Detectors->pDAT_Module)
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{
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return NULL;
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}
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return pArith->g_GLB_Detectors->pDAT_Module->getDAT_stOutput();
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}
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TARGET_OBJECT* ARIDLL_GetFullSATarget(ArithHandle hArithSrc, int& SANum)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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SANum = pArith->g_GLB_Detectors->m_FrmObjsCnt;
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TARGET_OBJECT* pFrameTargetArray = pArith->g_GLB_Detectors->GetTargetArray();
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return pFrameTargetArray;
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}
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DAT_OUTPUT* ARIDLL_GetTrkDAT_stOutput(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type == GLB_SCEN_GROUND)
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{
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return NULL;
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}
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return pArith->g_GLB_Trackers[pipeID]->pSkyTracker->pSATracker->pDAT_Module->getDAT_stOutput();
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}
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DBG_TRACKER_API int ARIDLL_GetSkyLineY(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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auto input = &pArith->g_GLB_stInput;
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if (pArith->g_GLB_stPara.bFiteredAlarm)
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{
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Pole skyPole = { 0 };
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skyPole.alpha = pArith->g_GLB_stPara.fFilterPt;
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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
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POINT32F Skypos = getImagePosFromStablePole(skyPole, input->stCamera, input->servoInfo, input->afPlatformRPY, input->setupErr);
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return Skypos.y;
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}
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return -1;
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}
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FilterMeanNL* ARIDLL_GetTrackerHistInfo(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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PIPE* pPipe = &pArith->g_GLB_PipeProc->getPipeArray()[pipeID];
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if (pPipe->bOccupy)
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{
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return &pPipe->stMotionMod_mean;
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}
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return nullptr;
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}
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POINT16S * ARIDLL_GetMaxPoint(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_Detectors->GetDST_MaxPoint();
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}
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TargetGuideInner* ARIDLL_GetTargetGuide(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_stPara.targetGuide;
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}
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GLB_SCEN_MODE ARIDLL_ExportSceneMode(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->m_SceneType;
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}
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GLB_SCEN_MODE ARIDLL_ExportTrkSceneMode(ArithHandle hArithSrc, int pipeID)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (NULL == pArith->g_GLB_Trackers[pipeID])
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{
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return GLB_SCEN_NONE;
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}
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return pArith->g_GLB_Trackers[pipeID]->m_type;
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}
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ALARM_TARGET* ARIDLL_GetAlarmArray(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_PipeProc->PIPE_GetAlarmTarget();
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}
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BBOOL* ARIDLL_GetIDArray(ArithHandle hArithSrc)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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return pArith->g_GLB_PipeProc->PIPE_GetAlarmIDArray();
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}
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//获取背景监控信息
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void getBKMInform(ArithHandle hArithSrc, int pipeID, FLOAT32* pdObj8BkgStdArray, BBOOL* pbObj8BkgStatus, UBYTE8* ubBkgIndex,
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BBOOL* bComplexEnv, BBOOL* bInterferenceMem, UBYTE8* bInfrnDirection, MINMAXRECT32S *mrnBkgBlks)
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{
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Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
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if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type == GLB_SCEN_GROUND)
|
|
{
|
|
return;
|
|
}
|
|
BkgMonitor* pBkgMonitor = pArith->g_GLB_Trackers[pipeID]->pSkyTracker->pBkgMonitor;
|
|
if (NULL != mrnBkgBlks)
|
|
{
|
|
memcpy(mrnBkgBlks, pBkgMonitor->mrnBkgBlks, sizeof(MINMAXRECT32S) * 8);
|
|
}
|
|
if (NULL != pdObj8BkgStdArray)
|
|
{
|
|
memcpy(pdObj8BkgStdArray, pBkgMonitor->DSP_GLB_Obj8BkgStdArray, sizeof(FLOAT32) * GLB_OBJ_BKG_FRM_NUM * GLB_OBJ_BKG_NUM);
|
|
}
|
|
if (NULL != pbObj8BkgStatus)
|
|
{
|
|
memcpy(pbObj8BkgStatus, pBkgMonitor->g_GLB_bObj8BkgStatus, sizeof(BBOOL) * GLB_OBJ_BKG_NUM);
|
|
}
|
|
|
|
*ubBkgIndex = pBkgMonitor->g_GLB_nObj8BkgArrayIndex;
|
|
*bComplexEnv = pBkgMonitor->g_GLB_bComplexEnv;
|
|
*bInterferenceMem = pBkgMonitor->g_GLB_bInterferenceMem;
|
|
*bInfrnDirection = pBkgMonitor->g_GLB_bInfrnDirection;
|
|
}
|
|
|
|
|
|
TSky_Output * GetSkyTrackerObjectStatus(ArithHandle hArithSrc, int pipeID)
|
|
{
|
|
|
|
Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
|
|
|
|
if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type != GLB_SCEN_SKY)
|
|
{
|
|
return NULL;
|
|
}
|
|
Tracker_Ptr pTracker = pArith->g_GLB_Trackers[pipeID];
|
|
return &pTracker->pSkyTracker->m_TSky_Output;
|
|
}
|
|
|
|
Param_SkyTracker* GetSkyTrackerParam(ArithHandle hArithSrc, int pipeID)
|
|
{
|
|
Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
|
|
|
|
if (pArith->g_GLB_Trackers[pipeID] == NULL || pArith->g_GLB_Trackers[pipeID]->m_type != GLB_SCEN_SKY)
|
|
{
|
|
return NULL;
|
|
}
|
|
Tracker_Ptr pTracker = pArith->g_GLB_Trackers[pipeID];
|
|
|
|
return &pTracker->pSkyTracker->m_TSky_Output.mTrakingPara_Output;
|
|
} |