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#pragma once
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#include "Arith_Common.hpp"
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#include "Arith_TrackSAObj.h"
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#include "KCF/API_KCF_Tracker.h"
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#include "Arith_BkgMonitor.h"
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#include "API_MOT_PipeProc.h"
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#include "SVM/svm.h"
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#include "Matcher/Fast_Matcher.h"
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#include "Arith_RadarInfo.h"
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#include "Arith_AIDMonitor.h"
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#include "Arith_PosAnalyse.h"
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// 决策行为
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enum Act
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{
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Credit = 1, //采信
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Reset = -1, //重置
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Adjust = 2, //重置位置，不更新跟踪模型
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Remain = 0, //保持，不做处理
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};
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enum ClsStdType
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{
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eSNR = 0, //信噪比
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eLandsNum = 1, //孤岛数
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eObjStd = 2, //目标方差
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eCenPosX = 3, //质心中心点X值
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eCenPosY = 4, //质心中心点Y值
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eObjPixcelCnt = 5, //目标像素数
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eXHoleCnt = 6, //X方向孔洞像素数
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eYHoleCnt = 7, //Y方向孔洞像素数
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eLongShortCenPosX = 8, //长短时中心点X值
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eLongShortCenPosY = 9, //长短时中心点Y值
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};
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// 决策策略
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struct DecPolicy
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{
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Act Act_SATracker;
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Act Act_KCFTracker;
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};
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//对单个跟踪目标进行类别判定建模的单帧信息
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typedef struct tagFrmClassifyInfo
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{
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BBOOL bLost; //邻居目标当前状态是否在记忆
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UINT32 unFrmId; //当前帧编号
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POINT32F pfCenPos; //区域的中心点坐标
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ANGLE32F afAngle; //目标方位角、俯仰角
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SIZE32F sfSize; //目标宽高
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DIST32F fCenDisXY; //主跟踪目标的中心点上下帧距离
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FLOAT32 fSNR; //目标信噪比
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FLOAT32 fObjStd; //目标方差 4
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SINT32 LandsNum; //分割孤岛数
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SINT32 nObjPixcelCnt; //目标的像素数
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SINT32 nObjXHoleCnt; //X方向的孔洞的像素数
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SINT32 nObjYHoleCnt; //Y方向的孔洞的像素数
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POINT32F pfLongCenPos; //长时轨迹预测中心点坐标
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POINT32F pfShortCenPos; //短时轨迹预测的中心点坐标
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}FrmClassifyInfo;
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typedef struct tagfrmSAClsInfo
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{
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ClsSrc emClsSrc[CLASSIFY_DEPTH_MAX]; //目标类别来源
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SINT32 nSACls[CLASSIFY_DEPTH_MAX]; //目标类别
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}FrmSAClsInfo;
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//小面+AI+决策的多帧类别信息，代表一个目标的多帧信息
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typedef struct tagPipeMainClassifyInfo
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{
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BBOOL bOccupy; //表示被占用标记
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UBYTE8 ubEnd; //队列尾(控制角度位置,实时刷新)
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UBYTE8 ubJudgePoint; //判别点，设置判别点间隔进行输出
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UINT16 nCountNum; //实际队列占用，可用于标识队列是否占满
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UINT16 nAreaCountNum; //面目标统计帧数
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FrmClassifyInfo frmClassifyInfo[MAIN_ALARM_DEPTH_MAX]; //单帧
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UBYTE8 ubSAClsEnd; //小面输出类别队列尾
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FrmSAClsInfo frmSAClsInfo; //传统判别方法的目标类别数组
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UBYTE8 ubAIDClsEnd; //AI识别输出类别队列尾
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SINT32 frmAIDClsInfo[CLASSIFY_DEPTH_MAX]; //AI识别判别方法的目标类别数组
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UBYTE8 ubDesciClsEnd; //决策输出类别队列尾
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SINT32 frmDesciClsInfo[CLASSIFY_DEPTH_MAX]; //决策目标类别数组
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}PipeMainClassifyInfo;
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// 主跟踪目标状态监控信息，用于判断跟踪目标是跟踪错误使用
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typedef struct tagPipeMainStatusInfo
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{
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BBOOL bOccupy; // 表示被占用标记
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UBYTE8 ubEnd; // 队列尾(控制角度位置,实时刷新)
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UBYTE8 ubJudgePoint; // 判别点，设置判别点间隔进行输出
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UINT16 nSavedNum; // 实际队列占用，可用于标识队列是否占满
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UINT16 nCountNum; // 每次统计计数，1个小周期重新计数
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SINT32 nAIDetNum; // 每个小周期AI检测次数
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FLOAT32 fAIDetRatio[TRACK_STATUS_DEPTH_MAX]; // AI检测状态统计
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ANGLE32F fPosAngle; // 每个小周期上一次的角度位置
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FLOAT32 fMoveDis[TRACK_STATUS_DEPTH_MAX]; // 方位角位移量监控统计
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SINT32 nAbnormalCnt; // 异常次数累计
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}PipeMainStatusInfo;
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class SkyTracker
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{
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public:
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SkyTracker(SINT32 nWidth, SINT32 nHeight);
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SkyTracker(SINT32 nWidth, SINT32 nHeight, Param_SkyTracker para);
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~SkyTracker();
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// 跟踪参数,可接收外部传入
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Param_SkyTracker mTrakingPara;
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// 跟踪初始化：统一使用管道作为接口
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bool Init(GD_VIDEO_FRAME_S img, PIPE* pLockPipe, GLB_INPUT* g_GLB_Input);
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/*************************************
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* Method: Track()
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* Function Description: 对空跟踪处理流程
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* CreateData: 2025/3/4
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* Input Param: GD_VIDEO_FRAME_S img:输入图像
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* Input Param: GLB_INPUT * g_GLB_Input:随帧输入信息
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* Input Param: API_MOT_PIPE * g_GLB_PipeProc:管道句柄
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* Input Param: ARIDLL_PARMA * g_stArithPara:算法控制参数
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* Output Param:
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* Return: TrackUnlockState:跟踪状态
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* Call Relation:
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* Other Description:
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*************************************/
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TrackUnlockState Track(GD_VIDEO_FRAME_S img, GLB_INPUT* g_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc, ARIDLL_PARMA* g_stArithPara, GLB_SCEN_MODE m_type);
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// 强制记忆跟踪
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TrackUnlockState MemTrack(GD_VIDEO_FRAME_S img, GLB_INPUT* g_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc, ARIDLL_PARMA* g_stArithPara, GLB_SCEN_MODE m_type);
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// 跟踪器解锁
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void Cancle();
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// 强制记忆跟踪
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void SetMemTrack(bool bMemFlag);
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// 设置跟踪参数
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void SetSkyParam(Param_SkyTracker * stSkyParam);
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// 获取跟踪参数
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Param_SkyTracker GetSkyParam();
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// 跟踪结果，用于输出
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OBJECTSTATUS ObjStatus;
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// 输出小面目标跟踪波门
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CENTERRECT getSATracker_SrBox();
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// 输出kcf波门
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CENTERRECT getKCFTracker_SrBox();
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// 输出小面目标类型
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SizeType getSATracker_SizeType();
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public:
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// 输出跟踪阶段小面目标列表
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TARGET_OBJECT* getTrackerSATargetList(SINT32& num);
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//返回小目标跟踪极值点
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POINT16S* GetDST_MaxPoint_Sky();
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PIPE* m_LockingPipe;//锁定管道指针，指向PIPE队列锁定目标，初始化赋值
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TARGET_OBJECT mTargetFusion;//跟踪器的输出"目标"，广义的单帧跟踪结果
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// 跟踪融合
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bool TrackDecision(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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// 产生决策
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DecPolicy Decision(GD_VIDEO_FRAME_S img);
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// KCF+CEND决策处理
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DecPolicy TO_TrackDecisionOf_KCF_CEND(GD_VIDEO_FRAME_S img);
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// 决策处理
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bool ApplyDecision(DecPolicy policy, GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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// 自动切换跟踪目标模式,内部自闭环
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void SetTrackModeAuto(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input);
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//小面目标跟踪器（对空）
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SA_Tracker* pSATracker;
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//kcf跟踪器（通用）
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API_KCF_Tracker* pKCFTracker;
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// 背景场景监控（对空）
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BkgMonitor* pBkgMonitor;
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// 导引信息监控（对空）
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RadarInfo* pRadarInfo;
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//AI Detection 管道监控模块，用于提供重捕候选
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AID_Monitor* Ai_DMonitor;
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// 模板匹配句柄
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templateMatching::Fast_Matcher* matcher;
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// 强制记忆跟踪标记(外部下发)
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bool m_bSetMemoryTrack;
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// 统计主跟踪目标状态信息
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PipeMainStatusInfo SkyTrkStatusInfo;
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// 跟踪控制参数(算法内部状态判断)
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SkyControlInfo skyControlInfo;
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//
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SINT32 g_GLB_nTrackDecisionCnt;//决策帧计数
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TrackUnlockState SkyTrkState; // Sky 跟踪器的跟踪状态
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// 对空跟踪结果和参数输出
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TSky_Output m_TSky_Output;
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private:
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void CalcStdOfArrayStatus(FLOAT32* pfArray, SINT32 nTotalLen, SINT32 nEnd,
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SINT32 nCountLen, PIPE_FEATURE_FLUC* pstPipeFeature);
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void SkyTrackFalse_Process(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, OBJECTSTATUS* ObjStatus, PIPE* m_LockingPipe);
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private:
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ImagePosRecord m_posRecorder; //pos统计
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bool bsvmInitDone;//
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PipeMainClassifyInfo* pipeClassifyInfo; // 主跟踪管道对应的信息缓存，用于在告警操作中进行类别确认
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struct svm_model* SVM_model;
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struct svm_node* svm_nodeX;
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struct svm_parameter svmParm;
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void CalcStdOfArray(FrmClassifyInfo* frmClassifyInfo, SINT32 nCountLen, UBYTE8 nEnd, ClsStdType type,
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PIPE_FEATURE_FLUC* pstPipeFeature);
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void SkyClassify_Record(GD_VIDEO_FRAME_S img, OBJECTSTATUS* ObjStatus, PIPE* m_LockingPipe, SizeType sizeType);
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void SkyClassify_Verify();
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void SkyClassify_Process(GD_VIDEO_FRAME_S img, OBJECTSTATUS *ObjStatus, PIPE* m_LockingPipe, SizeType sizeType);
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void SkyClassify_Desci(GLB_INPUT* p_GLB_Input, OBJECTSTATUS* pObjStatusSA);
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}; |
