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