S3315_RK3588/NeoTracker/src/Matcher/Fast_Matcher.cpp

#include "Base_matcher.h"
#include "PatternMatching.h"
#include "Arith_ImgOperate.h"


namespace templateMatching
{
    Fast_Matcher* GetMatcher(const MatcherParam& param)
    {
        MatcherParam paramCopy = param;
        BaseMatcher* matcher = nullptr;
        
        switch (paramCopy.matcherType)
        {
        case MatcherType::PATTERN:
            //logger_->info("Initializing matcher for type: PATTERN");
            matcher = new PatternMatcher(paramCopy);
            break;
        default:
            break;
        }

        if (matcher->isInited() == false)
        {
            delete matcher;
            matcher = nullptr;
        }

        return matcher;
    }

    void Matcher_Create(templateMatching::Fast_Matcher** matcher)
    {
        // 匹配器参数
        templateMatching::MatcherParam param;
        param.angle = 0;            // 旋转角度容纳范围，0表示无旋转角度
        param.iouThreshold = 0.1;
        param.matcherType = templateMatching::MatcherType::PATTERN;
        param.maxCount = 6;         // 输出候选个数
        param.minArea = 256;
        param.scoreThreshold = 0.5;

        *matcher = GetMatcher(param);

        (*matcher)->g_Matcher_Image = new UINT16[MATCHER_MAX * MATCHER_MAX];        // 锁定创建，解锁需要释放
    }

    void Matcher_SetTemplate(templateMatching::Fast_Matcher* matcher, GD_VIDEO_FRAME_S img, RECT32S crfCandiRect)
    {
        MINMAXRECT mmRect = { 0 };

        cv::Mat roi = cv::Mat(crfCandiRect.h, crfCandiRect.w, 0);
        if (GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16 == img.enPixelFormat)
        {
            GD_FRAME_pyrDownToY16(img, matcher->g_Matcher_Image, 1, crfCandiRect, mmRect);
            IMGO_gcABCLinRoi(matcher->g_Matcher_Image, roi.data, crfCandiRect.w * crfCandiRect.h);
        }
        else if (GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat ||
            GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_RGB_PACKED == img.enPixelFormat ||
            GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_NV12 == img.enPixelFormat)
        {
            GD_FRAME_pyrDownToY8(img, roi.data, 1, crfCandiRect, mmRect);
        }

        matcher->setTemplate(roi);
    }

    void Matcher_Destory(templateMatching::Fast_Matcher* matcher)
    {
        delete matcher->g_Matcher_Image;
        delete matcher;
    }

    
    void Matcher_Process(templateMatching::Fast_Matcher* matcher, GD_VIDEO_FRAME_S img, OBJECTSTATUS* pTrackStatus, TSky_Output* pTSky_Output)
    {
        SINT16 scale = 7;
        SINT32 regionW = SINT32(scale * pTrackStatus->sfSize.w);
        SINT32 regionH = SINT32(scale * pTrackStatus->sfSize.h);

        RECT32S sRect = { SINT32(pTrackStatus->ptPos.x - 3.5 * pTrackStatus->sfSize.w), SINT32(pTrackStatus->ptPos.y - 3.5 * pTrackStatus->sfSize.h),
            regionW, regionH };

        cv::Mat searchRegion = cv::Mat(regionH, regionW, CV_8UC1, cv::Scalar(0));

        MINMAXRECT mmRect = { 0 };
        if (GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16 == img.enPixelFormat)
        {
            GD_FRAME_pyrDownToY16(img, matcher->g_Matcher_Image, 1, sRect, mmRect);
            IMGO_gcABCLinRoi(matcher->g_Matcher_Image, searchRegion.data, regionW * regionH);
        }
        else if (GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8 == img.enPixelFormat ||
            GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_RGB_PACKED == img.enPixelFormat ||
            GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_NV12 == img.enPixelFormat)
        {
            GD_FRAME_pyrDownToY8(img, searchRegion.data, 1, sRect, mmRect);
        }

        pTSky_Output->m_nMatcherNum = 0;
        SINT32 matchedNum = matcher->match(searchRegion, sRect, matcher->matchResults);

        if (matchedNum > 0)
        {
            pTSky_Output->m_nMatcherNum = matchedNum;
            for (int i = 0; i < MIN(matcher->matchResults.size(), DT_MATCHER_MAX_NUM); ++i)
            {
                memcpy(&pTSky_Output->mMatcher_Array[i], &matcher->matchResults[i], sizeof(MATCHER_TARGET));
            }
        }
        // 计算得到最佳匹配结果，并进行尺寸、匹配特性分析


    }
}