S3315_RK3588/NeoTracker/console_test/Console_SOT_Sky_YUV422.cpp

// 单目标对地跟踪流程测试:将TLD从算法中剥离到外部，导致API调用形式调整
// 读取avi视频进行测试

#include "NeoArithStandardDll.h"
#include "S3312.h"                // 解析3312参数行数据需要包含
#include <tchar.h>
#include <windows.h>
#include <iostream>
#include <fstream>
#include <memory>
#include <string.h>
#include <algorithm>
#include <thread>
#include "opencv2/opencv.hpp"
using namespace std;
using namespace cv;

#define TEST_WITH_AID 0     // 是否使用AI Detect
#define TEST_WITH_AIT 0     // 是否使用AI Tracker

#if TEST_WITH_AID
#include "Arith_YOLO_Detect.h"
#endif

#if TEST_WITH_AIT
#include "Arith_AITracker.h"
#endif




unsigned short bcmd = 0;
short SelectCX = 0;
short SelectCY = 0;
unsigned short  setLockBoxW = 0;
unsigned short  setLockBoxH = 0;
bool draw = false;
cv::Point cursor = cv::Point(0, 0);
cv::Rect rect;
int key;
cv::Mat frame, dstImage;

//控制视频流
VideoCapture capture;
const char* windowName = "test"; //播放窗口名称 
const char* trackBarName = "Progress";  //trackbar控制条名称 
double totalFrame = 1.0;   //视频总帧数 
double currentFrame = 1.0;  //当前播放帧 
int trackbarValue = 1;  //trackbar控制量 
int trackbarMax = 255;  //trackbar控制条最大值 
double frameRate = 1.0; //视频帧率 
double controlRate = 0.1;
int frameValue = 0;



// 算法输入部分
ARIDLL_INPUTPARA stInputPara = { 0 };

// 算法输出部分
ARIDLL_OUTPUT stOutput = { 0 };

// 构建图像输入
GD_VIDEO_FRAME_S img = { 0 };

// S3312参数行解析结构体
Commdef::TParaWriteBackToFpga g_S3312_Para = { 0 };    // S3312录像参数临时变量

// AI Detect算法结果
#if TEST_WITH_AID
obj_res* g_pGLB_AIDetOutput = NULL;
int g_GLB_AIDetNum = 0;
#endif

// AI Tracker算法结果
#if TEST_WITH_AIT
API_AI_Tracker* g_GLB_AITracker = NULL;
AIT_OUTPUT g_GLB_AITrackOutput = { 0 };
#endif
//控制条回调函数 
static void TrackBarFunc(int, void(*))
{
    controlRate = (double)trackbarValue / trackbarMax * totalFrame; //trackbar控制条对视频播放进度的控制 
    capture.set(CAP_PROP_POS_FRAMES, controlRate);  //设置当前播放帧 
    frameValue = controlRate;
}

static void onMouse(int event, int x, int y, int flags, void* param)
{
    //flags定义#define CV_EVENT_FLAG_LBUTTON 1 左鍵拖曳
    switch (event)
    {
    case cv::EVENT_LBUTTONDOWN: // 鼠标左键按下
        SelectCX = x;
        SelectCY = y;
        cursor = cv::Point(x, y);
        rect = cv::Rect(x, y, 0, 0);
        draw = true;
        break;
    case cv::EVENT_LBUTTONUP: //鼠标左键松开
        setLockBoxW = rect.width;
        setLockBoxH = rect.height;
        SelectCX = rect.x + rect.width / 2;
        SelectCY = rect.y + rect.height / 2;
        bcmd = 1;
        draw = false;
        break;
    case cv::EVENT_RBUTTONDOWN: //鼠标右键按下
        bcmd = 2;
        break;
    case cv::EVENT_RBUTTONUP: //鼠标右键松开	
        break;
    case cv::EVENT_MBUTTONUP://左键双击
        bcmd = 1;
        break;

    case cv::EVENT_MOUSEMOVE: //移动光标
        if (draw)
        {
            cv::Mat dstImage1 = frame.clone();
            rect.x = MIN(x, cursor.x);
            rect.y = MIN(y, cursor.y);
            rect.width = abs(cursor.x - x);
            rect.height = abs(cursor.y - y);
            rectangle(dstImage1, rect, cv::Scalar(0, 0, 255), 1);
            cv::imshow("test", dstImage1);
        }
        break;
    }
}


#if TEST_WITH_AID
static void AIDetRun(ArithHandle pTracker, GD_VIDEO_FRAME_S img, int frameID)
{
    // 异步调用，考虑机器上传输延时，注意异步方式结果天然缓1帧。
    Async_YOLO_DetectTarget(img.u64VirAddr[0], img.u32Width, img.u32Height, frameID);
    g_pGLB_AIDetOutput = Async_YOLO_GetTargetArray(g_GLB_AIDetNum);

    int targetNum = 0;
    TARGET_OBJECT* pArray = ARIDLL_SearchFrameTargets(pTracker, img, &targetNum);

    int mergeNum = ARIDLL_MergeAITargets(pTracker, pArray, targetNum, g_pGLB_AIDetOutput, g_GLB_AIDetNum);
    stInputPara.nInputTargetNum = mergeNum;
    memcpy(stInputPara.stInputTarget, pArray, sizeof(TARGET_OBJECT) * mergeNum);

}
#endif

#if TEST_WITH_AIT
static int AITrackerRun(GD_VIDEO_FRAME_S img, int frameID)
{
    // 从传统算法输出中获取AI跟踪器的控制指令
    CENTERRECT32F InitBox = stOutput.stAI_TkCmd.InitBox;
    CENTERRECT32F TargetBox = stOutput.stAI_TkCmd.TargetBox;

    if (InitBox.w > 0 && InitBox.h > 0)
    {
        g_GLB_AITracker->init(img, InitBox);
        return 0;
    }
    if (!stOutput.stAI_TkCmd.bTrack)
    {
        g_GLB_AITracker->stopTrack();
        memset(&stInputPara.stAITrackerInfo, 0, sizeof(AIT_OUTPUT));
        memset(&g_GLB_AITrackOutput, 0, sizeof(AIT_OUTPUT));
        return 0;
    }

    g_GLB_AITracker->Track(img, TargetBox);

    g_GLB_AITracker->getTrackResult_Async(&g_GLB_AITrackOutput);

    // 向传统算法传参
    memcpy(&stInputPara.stAITrackerInfo, &g_GLB_AITrackOutput, sizeof(AIT_OUTPUT));

    return 0;
}
#endif


static void RunProcess(ArithHandle pTracker, GD_VIDEO_FRAME_S img)
{
#if TEST_WITH_AID
    // 运行AI识别算法
    AIDetRun(pTracker, img, stInputPara.unFrmId);
#endif

#if TEST_WITH_AIT
    // 运行SiamRPN跟踪算法
    AITrackerRun(img, stInputPara.unFrmId);
#endif
    // 调用小面目标检测
    int targetNum = ARIDLL_SearchFrameTargets(pTracker, img);

    // 运行算法主控逻辑API
    ARIDLL_RunController(pTracker, img, stInputPara, &stOutput);
}

int main()
{
    string video_fileName = "F:\\Datasets\\20240327_S3312\\20240605_114245_可见光面目标\\0_1920x1080_ParamLine3_Fps25_UYVY422.yuv";

    ifstream inFile(video_fileName, ios::in | ios::binary);
    int nParamLineCnt2 = 3;                         // 参数行数
    int nImageWidth = 1920;                          // 图像宽度
    int nImageHeight = 1080;                         // 图像高度

    int nHeightWithParm = nImageHeight + nParamLineCnt2;    // 叠加参数行后图像高度

    int m_lImageDataSize = nImageWidth * nImageHeight;              //图像大小，不包括参数行
    int m_lArithReslutDataSize = nImageWidth * 2 * nParamLineCnt2;      // 帧后参数占用空间（包括算法结果以及录像参数行）
    
    cv::Mat yuvWithparm, yuv, m_gray, dst_down;
    yuvWithparm = cv::Mat(1080 + 3, 1920, CV_8UC2);
    yuv = cv::Mat(1080, 1920, CV_8UC2);

    // 创建算法句柄
    ArithHandle pTracker = STD_CreatEOArithHandle();

#if TEST_WITH_AID
    // AI检测初始化
    //YOLO_Init();
    Async_YOLO_Init();
#endif

#if TEST_WITH_AIT
    // AI跟踪器初始化
    //CreatSiamRPN();
    //Async_CreatSiamRPN();

    // AI跟踪器初始化
    g_GLB_AITracker = API_AI_Tracker::Create(AITrackerType::DaSaimRPN);
    g_GLB_AITracker->loadModel();

    memset(&g_GLB_AITrackOutput, 0, sizeof(AIT_OUTPUT));
#endif

    // 初始化为凝视-对地模式
    ARIDLL_EOArithInitWithMode(pTracker, 640, 512, GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8,
        GLB_SYS_MODE::GLB_SYS_STARE, GLB_SCEN_MODE::GLB_SCEN_SKY);

    std::string configFilePath = std::string(SOURCE_PATH) + "/NeoTracker/vot_test/ArithParaVL.json";
    ARIDLL_ReadSetParamFile(pTracker, configFilePath.c_str());
    stInputPara.unFreq = frameRate;
    stInputPara.stAirCraftInfo.stAtt.fYaw = 0;
    stInputPara.stAirCraftInfo.stAtt.fRoll = 0;
    stInputPara.stAirCraftInfo.stAtt.fPitch = 0;
    stInputPara.stServoInfo.fServoAz = 0;
    stInputPara.stServoInfo.fServoPt = 0;
    stInputPara.stCameraInfo.fPixelSize = 15;
    stInputPara.stCameraInfo.nFocus = 600;
    stInputPara.unFrmId = 0;


    while(1)
    {
        stInputPara.unFrmId++;

        inFile.read((char*)yuvWithparm.data, 2 * nHeightWithParm * nImageWidth);// 所有的单帧数据（包括图像和参数行）

        memcpy(yuv.data, yuvWithparm.data, m_lImageDataSize * 2);  // 图像数据

        cv::Mat image_part = yuv(cv::Rect(320, 28, 1280, 1024));        // 裁剪后的图
        cv::cvtColor(image_part, m_gray, cv::COLOR_YUV2GRAY_UYVY);      // 转GRAY
        cv::pyrDown(m_gray, dst_down, cv::Size(image_part.cols / 2, image_part.rows / 2));     // 2倍降采样

        // 构建图像类型
        img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8;
        img.u32Width = dst_down.cols;
        img.u32Height = dst_down.rows;
        img.u32Stride[0] = img.u32Width;
        img.u64VirAddr[0] = dst_down.data;

        memcpy(&g_S3312_Para, yuvWithparm.data + 1080 * 1920 * 2, m_lArithReslutDataSize);  // 参数行数据

        Commdef::TServoInfoOutput* tServoInfo = &g_S3312_Para.stTrackResultInfo.tServoAndPosInfo.tServoInfo;

        stInputPara.unFreq = 50;
        stInputPara.stAirCraftInfo.stAtt.fYaw = 0;
        stInputPara.stAirCraftInfo.stAtt.fRoll = 0;
        stInputPara.stAirCraftInfo.stAtt.fPitch = 0;
        stInputPara.stCameraInfo.unVideoType = GLB_VIDEO_TYPE::GLB_VIDEO_VL;
        stInputPara.stCameraInfo.fPixelSize = 10;
        stInputPara.stCameraInfo.nFocus = g_S3312_Para.stTrackResultInfo.usFocus;
        stInputPara.stCameraInfo.fAglReso = 2 * 0.0001f * g_S3312_Para.stTrackResultInfo.usResol;     // 角分辨率
        stInputPara.stServoInfo.fServoAz = tServoInfo->fServoPtAngle;
        stInputPara.stServoInfo.fServoPt = -tServoInfo->fServoAzAngle;

        stInputPara.stServoInfo.fServoAzSpeed = 0;
        stInputPara.stServoInfo.fServoPtSpeed = 0;

        //点选转跟踪
        if (1 == bcmd)
        {
			/* setLockBoxW = 65;
				setLockBoxH = 31;
				SelectCX = 1525 + setLockBoxW / 2;
				SelectCY = 354 + setLockBoxH / 2;*/
            //ARIDLL_LockCommand(pTracker, SelectCX, SelectCY, setLockBoxW, setLockBoxH);

            // 调用该接口，可在当前帧完成锁定响应，不必缓一帧得到结果有利于运动目标锁定，同时将锁定决策结果返回，提供外部跟踪器同步锁定
            // 主要原因是点选锁定时无宽高，波门设置等来源于传统跟踪器决策结果。
            ARIDLL_OBJINFO obj = { 0 };
            obj = ARIDLL_LockTarget(pTracker, img, SelectCX, SelectCY, setLockBoxW, setLockBoxH);

#if TEST_WITH_AIT
            if (obj.nObjW > 0)
            {
                // 使用EOTracker的锁定决策初始化AI跟踪器
                CENTERRECT32F initBox = { obj.nX,obj.nY, obj.nObjW, obj.nObjH };
                g_GLB_AITracker->init(img, initBox);
                // 获取跟踪结果
                g_GLB_AITracker->getTrackResult_Async(&g_GLB_AITrackOutput);
            }
#endif
        }
		//右键解锁退出跟踪状态
		if (2 == bcmd)
		{
            // 解锁传统跟踪器
            ARIDLL_unLockCommand(pTracker, SelectCX, SelectCY, 0);
#if TEST_WITH_AIT
            // 解锁AI跟踪器
            g_GLB_AITracker->stopTrack();
#endif
		}

        RunProcess(pTracker, img);

        dstImage = dst_down.clone();
        auto trackerOut = stOutput.stTrackers[0];
        cv::Rect outRect;
        outRect.width = (int)trackerOut.nObjW;
        outRect.height= (int)trackerOut.nObjH;
        outRect.x = (int)trackerOut.nX - outRect.width / 2;
        outRect.y = (int)trackerOut.nY - outRect.height / 2;
        cv::rectangle(dstImage, outRect, cv::Scalar(0, 0, 255));

        //cv::rectangle(dstImage, cv::Rect(g_GLB_AITrackOutput.fX - g_GLB_AITrackOutput.nObjW / 2,
        //    g_GLB_AITrackOutput.fY - g_GLB_AITrackOutput.nObjH / 2,
        //    g_GLB_AITrackOutput.nObjW,
        //    g_GLB_AITrackOutput.nObjH), cv::Scalar(0, 255, 255));

        bcmd = 0;
        SelectCX = 0;
        SelectCY = 0;
        setLockBoxW = 0;
        setLockBoxH = 0;
        cv::imshow("test", dstImage);
        key = cv::waitKey(10);    
    }

    return 0;
}