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#include "Arith_CustomTracker.h"
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#include "Arith_AIDMonitor.h"
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#include "Arith_timer.h"
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CustomTracker::CustomTracker(SINT32 nWidth, SINT32 nHeight)
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{
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//kcf跟踪器（通用）
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m_pKCFTracker = API_KCF_Tracker::Create();
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// TLD
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m_pTLDTracker = API_TLD::Create();
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// LK光流计算
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m_pNDYTTracker = new NDYT();
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// ai跟踪器初始化为空，等待外部绑定
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m_pAITracker = NULL;
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// 精细模板匹配
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m_pNccCorrect = new NCCAccuracy();
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// 遮挡识别模块
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m_pOccJudgeKCF = new OccJudge();
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// AI Detect 管道监控模块
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Ai_DMonitor = new AID_Monitor();
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// AI跟踪器遮挡判断
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m_pOccJudgeAI = new OccJudgeAI();
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// 遮挡重捕模块
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m_pTargetArrest = new TargetArrest(m_pOccJudgeKCF, m_pOccJudgeAI, m_pKCFTracker, m_pTLDTracker);
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ObjStatus = { 0 };//复合跟踪结果
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ObjStatusAI = { 0 };
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ObjStatusKCF = { 0 };
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// 初始化为无遮挡
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tkEventKCF = { OccLev::NO_OCC };
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tkEventAI = { OccLev::NO_OCC };
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m_nKCFResetCnt = 0;
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m_nAIResetCnt = 0;
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m_nAISeResetCnt = 0;
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}
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CustomTracker::~CustomTracker()
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{
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if (m_pKCFTracker)
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{
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delete m_pKCFTracker;
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}
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if (m_pTLDTracker)
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{
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delete m_pTLDTracker;
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}
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if (m_pOccJudgeKCF)
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{
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delete m_pOccJudgeKCF;
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}
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if (m_pTargetArrest)
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{
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delete m_pTargetArrest;
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}
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if (m_pNccCorrect)
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{
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delete m_pNccCorrect;
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}
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if (m_pOccJudgeAI)
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{
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delete m_pOccJudgeAI;
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}
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if (Ai_DMonitor)
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{
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delete Ai_DMonitor;
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}
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}
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bool CustomTracker::Init(GD_VIDEO_FRAME_S img, PIPE* pLockPipe, GLB_INPUT* p_GLB_Input)
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{
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// 锁定管道传指针
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m_LockingPipe = pLockPipe;
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SINT32 nEnd = m_LockingPipe->ubEnd;
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SINT32 nObjSize = (SINT32)(m_LockingPipe->ObjectFilter.fPxlsCnt);
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TARGET_OBJECT* pTrackingTarget = &m_LockingPipe->objHistoryList[nEnd];
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RECT32S tkBox = { SINT32(pTrackingTarget->pfCenPos.x - pTrackingTarget->snSize.w * 0.5),
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SINT32(pTrackingTarget->pfCenPos.y- pTrackingTarget->snSize.h * 0.5),
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pTrackingTarget->snSize.w,
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pTrackingTarget->snSize.h };
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CENTERRECT32F ctBox = { pTrackingTarget->pfCenPos.x,
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pTrackingTarget->pfCenPos.y,
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(FLOAT32)pTrackingTarget->snSize.w,
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(FLOAT32)pTrackingTarget->snSize.h };
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// 初始化KCF
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if (m_pKCFTracker)
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{
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m_pKCFTracker->KCF_InitObjectParameters(img, pLockPipe, p_GLB_Input);
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}
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//初始化NCC修正模块
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if (m_pNccCorrect)
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{
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m_pNccCorrect->NCC_IniteTemplet(img, ctBox);
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}
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//// 初始化TLD模块
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m_pTLDTracker->TLD_Init_API(img, ctBox);
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// 初始化AI跟踪
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if(m_pAITracker)
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{
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m_pAITracker->AIT_Init(img, pLockPipe, p_GLB_Input);
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}
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//初始化NDYT
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if (m_pNDYTTracker)
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{
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m_pNDYTTracker->NDYT_Init();
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}
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return true;
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}
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bool CustomTracker::Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc)
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{
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// 跟踪成功状态
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bool bTrackStatus = false;
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bool bTrackKCFStatus = false;
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bool bTrackAIStatus = false;
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//KCF跟踪
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if (m_pKCFTracker)
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{
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bTrackKCFStatus = GroundTrackKCF(img, p_GLB_Input, m_pKCFTracker, m_pOccJudgeKCF, &tkEventKCF, m_pTLDTracker->TLD_GetPara());
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//更新KCF运动模型
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m_pKCFTracker->UpdateTrackerMotion(p_GLB_Input);
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}
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//NCC跟踪精度修正
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if (m_pNccCorrect)
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{
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m_pNccCorrect->NCC_CorrectTarget(img, m_pKCFTracker->GetTrackeStatus());
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}
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// AI跟踪
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if (m_pAITracker)
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{
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CENTERRECT32F srBbox = { ObjStatus.ptPos.x,ObjStatus.ptPos.y,
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ObjStatus.sfSize.w,ObjStatus.sfSize.h};
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//m_pAITracker->AIT_Run(img, srBbox, p_GLB_Input);
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bTrackAIStatus = GroundTrackAI(p_GLB_Input, m_pAITracker, m_pOccJudgeAI, &tkEventAI, m_pTLDTracker->TLD_GetPara());
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}
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// 跟踪决策及模型更新
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bTrackStatus = TrackDecision(img, p_GLB_Input);
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// 运行TLD :
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if(p_GLB_Input->parallelFlg == 0)
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{
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if (m_pTLDTracker)
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{
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#if 0
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m_pTLDTracker->TLD_Run_MutiTracker(img, &ObjStatus, &ObjStatusKCF, &ObjStatusAI, tkEventKCF);
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#endif
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UBYTE8 nScale = 0;
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SINT32 nImageW = 0;
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SINT32 nImageH = 0;
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RECT32S bRect = { 0 };
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MINMAXRECT mmRect = { 0 };
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int ret = m_pTLDTracker->tldPreProcess(img,&ObjStatus, &ObjStatusKCF, &ObjStatusAI,&nScale,&nImageW,&nImageH,&bRect,&mmRect);
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if(ret != -1)
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{
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m_pTLDTracker->tldRunMultiTracker(&ObjStatus, &ObjStatusKCF, &ObjStatusAI, tkEventKCF,nScale,nImageW,nImageH,bRect,mmRect);
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}
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}
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}
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if (bTrackStatus)
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{
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// 处理跟踪事件(对地处理这档重捕,可屏蔽测试AID重捕)
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EventProcess(tkEventKCF, tkEventAI, img, m_LockingPipe, p_GLB_Input);
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//// AI识别管道监控处理
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//SINT32 alarmID = Ai_DMonitor->Process(img, p_GLB_Input, &ObjStatus, m_LockingPipe, g_GLB_PipeProc);
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//// 根据AID提供的告警管道编号查询管道，调用重捕重置流程
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//PIPE* recapPipe = g_GLB_PipeProc->getPipeByAlarmID(alarmID);
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//RecapRestProcess(tkEventKCF, img, recapPipe, p_GLB_Input);
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}
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else
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{
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// 跟踪失败，解锁
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Cancle();
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// 返回跟踪状态
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return bTrackStatus;
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}
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// 返回跟踪状态
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return bTrackStatus;
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}
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void CustomTracker::Cancle()
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{
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PIPE* pPipe = m_LockingPipe;
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if (pPipe)
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{
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pPipe->bTrackingPipe = false;
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}
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// 如果存在AI跟踪器，解锁
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if(m_pAITracker)
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{
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m_pAITracker->ATI_Cancle();
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}
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m_pKCFTracker->KCF_CleanUpObjectTracker();
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m_pTLDTracker->TLD_CleanUp();
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m_pOccJudgeKCF->OccJudge_CleanUpObjAglSimInfo();
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}
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bool CustomTracker::TrackDecision(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input)
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{
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UBYTE8 ubSuccessFlag = TRUE;
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//若同时执行KCF+AI跟踪，则执行面目标跟踪决策
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if (m_pKCFTracker && m_pAITracker)
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{
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ubSuccessFlag = TO_TrackDecisionOfMiddleObj_KCF_AI(img, p_GLB_Input);
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}
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//若仅执行KCF跟踪，则直接将KCF结果赋给跟踪决策结果
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else if (m_pKCFTracker)
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{
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//20171218，更新kcf模板
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if (m_pKCFTracker->GetTrackeStatus()->unContiLostCnt < 1)
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{
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m_pKCFTracker->KCF_ModelUpdate(img);
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}
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// 取KCF跟踪结果输出
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memcpy(&ObjStatus, m_pKCFTracker->GetTrackeStatus(), sizeof(OBJECTSTATUS));
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ObjStatus.nDeciStatus = KCF_Deci;
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}
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else if (m_pAITracker)
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{
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memcpy(&ObjStatus, m_pAITracker->GetTrackeStatus(), sizeof(OBJECTSTATUS));
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ObjStatus.nDeciStatus = AIT_Deci;
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}
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else
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{
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ObjStatus.bObjMiss = true;
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}
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//若决策目标丢失，则标记跟踪失败
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ubSuccessFlag = TRUE;
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if (ObjStatus.bObjMiss)
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{
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ubSuccessFlag = FALSE;
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}
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//决策结果指导AI跟踪位置
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if (m_pAITracker)
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{
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AIT_OUTPUT* pAITOut = m_pAITracker->GetAIPara();
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if (ObjStatus.nOcclude_flag == FULL_OCC)
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{
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//记忆阶段取TLD检测结果传入
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if (m_pAITracker->GetTrackeStatus()->unContiLostCnt > p_GLB_Input->unFreq && m_pTLDTracker)
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{
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RECT32S rsTLDBestRect = m_pTLDTracker->TLD_GetPara()->rsBestNNRect;
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m_pAITracker->m_Ai_TkCmd.TargetBox.cx = rsTLDBestRect.x + rsTLDBestRect.w / 2;
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m_pAITracker->m_Ai_TkCmd.TargetBox.cy = rsTLDBestRect.y + rsTLDBestRect.h / 2;
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m_pAITracker->m_Ai_TkCmd.TargetBox.w = rsTLDBestRect.w;
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m_pAITracker->m_Ai_TkCmd.TargetBox.h = rsTLDBestRect.h;
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}
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else
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.cx = pAITOut->fX;
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m_pAITracker->m_Ai_TkCmd.TargetBox.cy = pAITOut->fY;
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if (pAITOut->fObjW > 1)
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.w = pAITOut->fObjW;
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m_pAITracker->m_Ai_TkCmd.TargetBox.h = pAITOut->fObjH;
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}
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else
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.w = ObjStatus.sfSize.w;
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m_pAITracker->m_Ai_TkCmd.TargetBox.h = ObjStatus.sfSize.h;
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}
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}
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}
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else
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.cx = ObjStatus.ptPos.x;
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m_pAITracker->m_Ai_TkCmd.TargetBox.cy = ObjStatus.ptPos.y;
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if (pAITOut->fObjW > 1)
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.w = pAITOut->fObjW;
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m_pAITracker->m_Ai_TkCmd.TargetBox.h = pAITOut->fObjH;
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}
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else
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{
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m_pAITracker->m_Ai_TkCmd.TargetBox.w = ObjStatus.sfSize.w;
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m_pAITracker->m_Ai_TkCmd.TargetBox.h = ObjStatus.sfSize.h;
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}
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}
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}
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return ubSuccessFlag;
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}
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bool CustomTracker::TO_TrackDecisionOfMiddleObj_KCF_AI(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input)
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{
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UBYTE8 ubSuccessFlag = TRUE;
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MINMAXRECT mmRectKCF = { 0 };
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MINMAXRECT mmRectAI = { 0 };
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FLOAT32 fIou = 0.f;
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BBOOL bResetKCF = FALSE;
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BBOOL bResetAI = FALSE;
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BBOOL bKcfResetAI = FALSE;
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BBOOL bIouConfirm = TRUE;
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OBJECTSTATUS* pObjStatus = &ObjStatus;
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OBJECTSTATUS* pObjStatusKCF = m_pKCFTracker->GetTrackeStatus();
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OBJECTSTATUS* pObjStatusAI = m_pAITracker->GetTrackeStatus();
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OBJECT_OCCLUSION* stOcclude = m_pOccJudgeAI->getOccInfo();
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AIT_OUTPUT* pAITOut = m_pAITracker->GetAIPara();
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TLD_Para* pTLDPara = m_pTLDTracker->TLD_GetPara();
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SINT32 nAITNumThre = MAX(20, stOcclude->nObjNumArrestTH);
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SINT32 nKCFNumThre = MAX(10, stOcclude->nObjNumArrestTH);
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pObjStatus->bObjLost = FALSE;
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//估计AI跟踪结果是否为可跟踪目标-----------------------
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//统计AI第一帧和第二帧之间跟踪框的差异性
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mmRectAI.minX = pObjStatusAI->ptPos.x - pObjStatusAI->sfSize.w / 2;
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mmRectAI.maxX = pObjStatusAI->ptPos.x + pObjStatusAI->sfSize.w / 2;
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mmRectAI.minY = pObjStatusAI->ptPos.y - pObjStatusAI->sfSize.h / 2;
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mmRectAI.maxY = pObjStatusAI->ptPos.y + pObjStatusAI->sfSize.h / 2;
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mmRectKCF.minX = pObjStatusKCF->ptPos.x - pObjStatusKCF->sfSize.w / 2;
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mmRectKCF.maxX = pObjStatusKCF->ptPos.x + pObjStatusKCF->sfSize.w / 2;
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mmRectKCF.minY = pObjStatusKCF->ptPos.y - pObjStatusKCF->sfSize.h / 2;
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mmRectKCF.maxY = pObjStatusKCF->ptPos.y + pObjStatusKCF->sfSize.h / 2;
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fIou = IMGO_CalcObjIou(mmRectAI, mmRectKCF);
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//分四类情况讨论
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if (pObjStatusKCF->unContiLostCnt == 0 && pObjStatusAI->unContiLostCnt == 0)
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{
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pObjStatus->nDeciStatus = KCF_Deci;
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if (fIou < 0.4 && fIou > 0.1
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&&(pObjStatusKCF->sfSize.w > 15 || pObjStatusKCF->sfSize.h > 15)
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&& pAITOut->nDetectNum > 35
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&& stOcclude->nJamExistCnt < 0
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&& stOcclude->nDetectChangeCnt < 0)
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{
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bResetKCF = TRUE;
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m_pTargetArrest->nArrestKCFStatus = 12;
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}
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if (pAITOut->nDetectNum > 10 && pAITOut->nDetectNum < 25)
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{
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m_nAIResetCnt++;
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if (m_nAIResetCnt > 10)
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{
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m_nAIResetCnt = 0;
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bResetAI = TRUE;
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m_pTargetArrest->nArrestAIStatus = 15;
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}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_nAIResetCnt = 0;
|
|
|
}
|
|
|
|
|
|
|
|
|
}
|
|
|
else if (pObjStatusKCF->unContiLostCnt > 0 && pObjStatusAI->unContiLostCnt == 0)
|
|
|
{
|
|
|
pObjStatus->nDeciStatus = AIT_Deci;
|
|
|
|
|
|
//重置KCF(丢失)条件判断---------------------------------------------
|
|
|
if ( (pObjStatusKCF->sfSize.w > 15 || pObjStatusKCF->sfSize.h > 15)
|
|
|
&& pAITOut->nDetectNum > stOcclude->nObjNumArrestTH
|
|
|
&& stOcclude->nJamExistCnt < 0
|
|
|
&& stOcclude->nDetectChangeCnt < 0
|
|
|
&& pObjStatusKCF->unContiLostCnt > 30
|
|
|
&& pObjStatusAI->unContiTrackedCnt > 30)
|
|
|
{
|
|
|
bResetKCF = TRUE;
|
|
|
m_pTargetArrest->nArrestKCFStatus = 13;
|
|
|
}
|
|
|
|
|
|
if (pObjStatusKCF->unContiLostCnt > p_GLB_Input->unFreq * 5)
|
|
|
{
|
|
|
bResetKCF = TRUE;
|
|
|
m_pTargetArrest->nArrestKCFStatus = 14;
|
|
|
}
|
|
|
}
|
|
|
else if (pObjStatusKCF->unContiLostCnt == 0 && pObjStatusAI->unContiLostCnt > 0)
|
|
|
{
|
|
|
pObjStatus->nDeciStatus = KCF_Deci;
|
|
|
//重置AI条件判断---------------------------------------------
|
|
|
if ((pObjStatusKCF->sfSize.w > 15 || pObjStatusKCF->sfSize.h > 15)
|
|
|
&& pObjStatusKCF->nOcclude_flag == NO_OCC
|
|
|
&& pObjStatusAI->unContiLostCnt > 30
|
|
|
&& pObjStatusAI->unTrackedCnt > 30
|
|
|
&& m_nAISeResetCnt < 0)
|
|
|
{
|
|
|
bResetAI = TRUE;
|
|
|
m_nAISeResetCnt = 10;
|
|
|
m_pTargetArrest->nArrestAIStatus = 17;
|
|
|
}
|
|
|
|
|
|
//KCF重置AI
|
|
|
if (pObjStatusAI->unContiLostCnt > p_GLB_Input->unFreq * 5
|
|
|
&& m_nAISeResetCnt < 0)
|
|
|
{
|
|
|
bResetAI = TRUE;
|
|
|
m_nAISeResetCnt = 10;
|
|
|
m_pTargetArrest->nArrestAIStatus = 18;
|
|
|
}
|
|
|
m_nAISeResetCnt--;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
pObjStatus->nDeciStatus = Predict_Deci;
|
|
|
//决策跟踪状态
|
|
|
pObjStatus->bObjLost = TRUE;
|
|
|
}
|
|
|
|
|
|
//决策后处理-----------------------------------------------------------------
|
|
|
//更新kcf模板
|
|
|
if (pObjStatusKCF->unContiLostCnt < 1)
|
|
|
{
|
|
|
m_pKCFTracker->KCF_ModelUpdate(img);
|
|
|
}
|
|
|
|
|
|
//决策结果赋值
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
|
if (pObjStatus->nDeciStatus == KCF_Deci)
|
|
|
{
|
|
|
pObjStatus->ptPos = pObjStatusKCF->ptPos;
|
|
|
pObjStatus->sfSize = pObjStatusKCF->sfSize;
|
|
|
pObjStatus->nOcclude_flag = pObjStatusKCF->nOcclude_flag;
|
|
|
pObjStatus->fConfidence = pObjStatusKCF->fConfidence;
|
|
|
}
|
|
|
else if (pObjStatus->nDeciStatus == AIT_Deci)
|
|
|
{
|
|
|
pObjStatus->ptPos = pObjStatusAI->ptPos;
|
|
|
pObjStatus->sfSize = pObjStatusAI->sfSize;
|
|
|
pObjStatus->nOcclude_flag = pObjStatusAI->nOcclude_flag;
|
|
|
pObjStatus->fConfidence = pObjStatusAI->fConfidence;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
pObjStatus->sfSize = pObjStatusKCF->sfSize;
|
|
|
pObjStatus->nOcclude_flag = FULL_OCC;
|
|
|
pObjStatus->fConfidence = 0;
|
|
|
pObjStatus->nDeciStatus = Predict_Deci;
|
|
|
}
|
|
|
|
|
|
if (pObjStatus->bObjLost == FALSE)
|
|
|
{
|
|
|
//更新目标计数器
|
|
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
|
|
// 更新帧编号
|
|
|
pObjStatus->unFrmId = p_GLB_Input->unFrmId;
|
|
|
pObjStatus->unTotalCnt++;
|
|
|
pObjStatus->unTrackedCnt++;
|
|
|
pObjStatus->unContiTrackedCnt++;
|
|
|
pObjStatus->unContiLostCnt = 0;
|
|
|
pObjStatus->bObjMiss = FALSE;
|
|
|
//更新目标丢失/跟踪失败标志
|
|
|
pObjStatus->bObjLost = FALSE;
|
|
|
|
|
|
//更新目标位置
|
|
|
POINT32F pfPosPrePre = pObjStatus->ptPosPre;
|
|
|
pObjStatus->ptPosPre = pObjStatus->ptPos;
|
|
|
|
|
|
pObjStatus->ptPosFilter.x = (pObjStatus->ptPosPre.x + pObjStatus->sfSpeed.vx + pObjStatus->ptPos.x) / 2;
|
|
|
pObjStatus->ptPosFilter.y = (pObjStatus->ptPosPre.y + pObjStatus->sfSpeed.vy + pObjStatus->ptPos.y) / 2;
|
|
|
|
|
|
//非射击期间出视场解锁
|
|
|
if (IMGO_IsPoint32FOutImg(p_GLB_Input->nImageWidth, p_GLB_Input->nImageHeight, pObjStatus->ptPos))
|
|
|
{
|
|
|
pObjStatus->bObjMiss = TRUE;
|
|
|
}
|
|
|
|
|
|
//更新目标尺寸
|
|
|
pObjStatus->sfSize.s = pObjStatus->sfSize.w * pObjStatus->sfSize.h;
|
|
|
pObjStatus->fObjPxlsCnt = pObjStatus->sfSize.s;
|
|
|
|
|
|
//更新目标速度
|
|
|
pObjStatus->sfSpeed.vx = (pObjStatus->ptPos.x - pfPosPrePre.x) / 2;
|
|
|
pObjStatus->sfSpeed.vy = (pObjStatus->ptPos.y - pfPosPrePre.y) / 2;
|
|
|
|
|
|
//更新目标角度
|
|
|
Pole pole = getStablePoleFromImagePos(pObjStatus->ptPos,
|
|
|
p_GLB_Input->stCamera, p_GLB_Input->servoInfo, p_GLB_Input->afPlatformRPY, p_GLB_Input->setupErr);
|
|
|
|
|
|
pObjStatus->afAngle.fAz = (FLOAT32)pole.beta;
|
|
|
pObjStatus->afAngle.fPt = (FLOAT32)pole.alpha;
|
|
|
|
|
|
////更新目标角速度，从跟踪管道统一取
|
|
|
pObjStatus->sfAglSpeed.vx = m_LockingPipe->sfAglSpeed.vx;
|
|
|
pObjStatus->sfAglSpeed.vy = m_LockingPipe->sfAglSpeed.vy;
|
|
|
|
|
|
//标记跟踪成功
|
|
|
ubSuccessFlag = TRUE;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//更新目标计数器
|
|
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
|
|
// 更新帧编号
|
|
|
pObjStatus->unFrmId = p_GLB_Input->unFrmId;
|
|
|
pObjStatus->unTotalCnt++;
|
|
|
pObjStatus->unTrackedCnt++;
|
|
|
pObjStatus->unContiTrackedCnt = 0;
|
|
|
pObjStatus->unContiLostCnt++;
|
|
|
pObjStatus->bObjMiss = FALSE;
|
|
|
//更新目标丢失/跟踪失败标志
|
|
|
pObjStatus->bObjLost = TRUE;
|
|
|
|
|
|
ANGLE32F afMemoryAngle = { 0 };
|
|
|
POINT32F ptMemoryPos = { 0 };
|
|
|
|
|
|
afMemoryAngle.fAz = DEGLIM360(pObjStatus->afAngle.fAz + pObjStatus->sfAglSpeed.vx);
|
|
|
afMemoryAngle.fPt = DEGLIM(pObjStatus->afAngle.fPt + pObjStatus->sfAglSpeed.vy);
|
|
|
|
|
|
// 稳定系到图像坐标系
|
|
|
Pole targetCarNUEPole;
|
|
|
targetCarNUEPole.alpha = afMemoryAngle.fPt;
|
|
|
targetCarNUEPole.beta = afMemoryAngle.fAz;
|
|
|
targetCarNUEPole.distance = 0;
|
|
|
|
|
|
ptMemoryPos = getImagePosFromStablePole(targetCarNUEPole,
|
|
|
p_GLB_Input->stCamera, p_GLB_Input->servoInfo, p_GLB_Input->afPlatformRPY, p_GLB_Input->setupErr);
|
|
|
|
|
|
|
|
|
pObjStatus->ptPos = ptMemoryPos;
|
|
|
|
|
|
// 每帧更新目标角度值
|
|
|
pObjStatus->afAngle = afMemoryAngle;
|
|
|
|
|
|
//更新目标位置
|
|
|
POINT32F pfPosPrePre = pObjStatus->ptPosPre;
|
|
|
pObjStatus->ptPosPre = pObjStatus->ptPos;
|
|
|
|
|
|
pObjStatus->ptPosFilter.x = (pObjStatus->ptPosPre.x + pObjStatus->sfSpeed.vx + pObjStatus->ptPos.x) / 2;
|
|
|
pObjStatus->ptPosFilter.y = (pObjStatus->ptPosPre.y + pObjStatus->sfSpeed.vy + pObjStatus->ptPos.y) / 2;
|
|
|
|
|
|
if (pObjStatus->nDeciStatus == AIT_Deci)
|
|
|
{
|
|
|
if (IMGO_IsPoint32FOutImg(p_GLB_Input->nImageWidth, p_GLB_Input->nImageHeight, pObjStatusAI->ptPos))
|
|
|
{
|
|
|
pObjStatus->bObjMiss = TRUE;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//非射击期间出视场解锁
|
|
|
if (IMGO_IsPoint32FOutImg(p_GLB_Input->nImageWidth, p_GLB_Input->nImageHeight, pObjStatus->ptPos))
|
|
|
{
|
|
|
pObjStatus->bObjMiss = TRUE;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
//更新目标尺寸
|
|
|
pObjStatus->sfSize.s = pObjStatus->sfSize.w * pObjStatus->sfSize.h;
|
|
|
pObjStatus->fObjPxlsCnt = pObjStatus->sfSize.s;
|
|
|
|
|
|
//更新目标角速度
|
|
|
pObjStatus->sfAglSpeed.vx = m_LockingPipe->sfAglSpeed.vx;
|
|
|
pObjStatus->sfAglSpeed.vy = m_LockingPipe->sfAglSpeed.vy;
|
|
|
|
|
|
SINT32 nTrackMemFrmNum = 1000;
|
|
|
if (pObjStatus->unContiLostCnt >= (UINT32)(nTrackMemFrmNum))
|
|
|
{
|
|
|
/*> 若记忆跟踪超时，则标记跟踪丢失, 通知外部解锁 */
|
|
|
//更新目标丢失/跟踪失败标志
|
|
|
pObjStatus->bObjMiss = TRUE;
|
|
|
//标记跟踪失败
|
|
|
ubSuccessFlag = FALSE;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//标记跟踪成功
|
|
|
ubSuccessFlag = TRUE;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
if (bResetKCF)
|
|
|
{
|
|
|
CENTERRECT32F crfCandiRect;
|
|
|
crfCandiRect.cx = pObjStatusAI->ptPos.x;
|
|
|
crfCandiRect.cy = pObjStatusAI->ptPos.y;
|
|
|
crfCandiRect.w = pObjStatusAI->sfSize.w;
|
|
|
crfCandiRect.h = pObjStatusAI->sfSize.h;
|
|
|
pObjStatus->ptPos = pObjStatusAI->ptPos;
|
|
|
pObjStatus->sfSize = pObjStatusAI->sfSize;
|
|
|
// 初始化目标响应及相似度信息
|
|
|
m_pKCFTracker->KCF_InitObjectParametersDeci(img, p_GLB_Input, crfCandiRect, pObjStatus);
|
|
|
m_pOccJudgeKCF->OccJudge_CleanUpObjAglSimInfo();
|
|
|
m_pTargetArrest->ObjArrest_CleanUpObjArrestInfo();
|
|
|
//初始化NCC修正模板
|
|
|
m_pNccCorrect->NCC_IniteTemplet(img, crfCandiRect);
|
|
|
|
|
|
}
|
|
|
|
|
|
if (bResetAI)
|
|
|
{
|
|
|
m_pAITracker->m_Ai_TkCmd.InitBox.cx = pObjStatusKCF->ptPos.x;
|
|
|
m_pAITracker->m_Ai_TkCmd.InitBox.cy = pObjStatusKCF->ptPos.y;
|
|
|
m_pAITracker->m_Ai_TkCmd.InitBox.w = pObjStatusKCF->sfSize.w;
|
|
|
m_pAITracker->m_Ai_TkCmd.InitBox.h = pObjStatusKCF->sfSize.h;
|
|
|
|
|
|
pObjStatusAI->nOcclude_flag = 0;
|
|
|
//g_GLB_stOutput.bIniteDaSiamRPN = 1;
|
|
|
//m_nAIResetCnt = 10;
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
return ubSuccessFlag;
|
|
|
}
|
|
|
|
|
|
void CustomTracker::EventProcess(TrackEvent pEventkcf, TrackEvent pEventAI, GD_VIDEO_FRAME_S img, PIPE* pLockingPipe, GLB_INPUT* p_GLB_Input)
|
|
|
{
|
|
|
// 完全遮挡时，执行目标重捕
|
|
|
if (pEventkcf.occ == OccLev::FULL_OCC)
|
|
|
{
|
|
|
m_pTargetArrest->TLD_RecaptureKCF_Run(img, pLockingPipe, p_GLB_Input);
|
|
|
}
|
|
|
|
|
|
if (pEventAI.occ == OccLev::FULL_OCC && m_pAITracker)
|
|
|
{
|
|
|
m_pTargetArrest->TLD_RecaptureDasiamRPN_Run(img, pLockingPipe, p_GLB_Input, m_pAITracker);
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
void CustomTracker::RecapRestProcess(TrackEvent tkEvent, GD_VIDEO_FRAME_S img, PIPE* pLockingPipe, GLB_INPUT* p_GLB_Input)
|
|
|
{
|
|
|
m_pTargetArrest->AID_RecaptureKCF_Run(img, pLockingPipe, p_GLB_Input);
|
|
|
}
|
|
|
|
|
|
bool CustomTracker::GroundTrackKCF(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_KCF_Tracker* pKCFTracker, OccJudge* pOccJudge, TrackEvent* tkEventStatus, TLD_Para* pTLDPara)
|
|
|
{
|
|
|
BBOOL bSuccess = TRUE;
|
|
|
RECT32F rfDetectBox = { 0 };
|
|
|
RECT32F rfInputBox = { 0 };
|
|
|
GLB_STATUS nStatus = GLB_STATUS_UNKOWN;
|
|
|
OBJECTSTATUS* pObjStatusKCF = pKCFTracker->GetTrackeStatus();
|
|
|
if (pObjStatusKCF->unContiLostCnt <= 0)
|
|
|
{
|
|
|
nStatus = GLB_STATUS_TRACK;
|
|
|
}
|
|
|
if (m_pNDYTTracker)
|
|
|
{
|
|
|
rfInputBox.x = pObjStatusKCF->ptPos.x - pObjStatusKCF->sfSize.w / 2;
|
|
|
rfInputBox.y = pObjStatusKCF->ptPos.y - pObjStatusKCF->sfSize.h / 2;
|
|
|
rfInputBox.w = pObjStatusKCF->sfSize.w;
|
|
|
rfInputBox.h = pObjStatusKCF->sfSize.h;
|
|
|
rfDetectBox = m_pNDYTTracker->NDYT_Run(img, rfInputBox, nStatus);
|
|
|
}
|
|
|
if (nStatus == GLB_STATUS_TRACK)
|
|
|
{
|
|
|
pKCFTracker->KCF_DetectReset(rfDetectBox);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pNDYTTracker->NDYT_Init();
|
|
|
}
|
|
|
// 运行KCF
|
|
|
pKCFTracker->KCF_Run_Detect(img, p_GLB_Input);
|
|
|
|
|
|
//目标遮挡判断
|
|
|
tkEventStatus->occ = pOccJudge->OccEventRecognition(img, pObjStatusKCF, pKCFTracker->GetFHogFeaArray31C(), pKCFTracker->GetFHogFeaSize(), pObjStatusKCF->fConfidence, pTLDPara);
|
|
|
|
|
|
// 如果存在遮挡事件或者响应低于阈值，则进入记忆跟踪
|
|
|
if (tkEventStatus->occ == FULL_OCC)
|
|
|
{
|
|
|
bSuccess = pKCFTracker->KCF_MemTracker(pObjStatusKCF, (SINT32)img.u32Width, (SINT32)img.u32Height, p_GLB_Input);
|
|
|
ObjStatusKCF = *pKCFTracker->GetTrackeStatus();
|
|
|
return bSuccess;
|
|
|
}
|
|
|
|
|
|
// 更新跟踪器
|
|
|
pKCFTracker->KCF_UpdateTracker((SINT32)img.u32Width, (SINT32)img.u32Height, pObjStatusKCF, p_GLB_Input);
|
|
|
|
|
|
ObjStatusKCF = *pKCFTracker->GetTrackeStatus();
|
|
|
|
|
|
return bSuccess;
|
|
|
}
|
|
|
|
|
|
bool CustomTracker::GroundTrackAI(GLB_INPUT* p_GLB_Input, AIT_Interface* pAITracker, OccJudgeAI* pOccJudge,
|
|
|
TrackEvent* tkEventAI, TLD_Para* pTLDPara)
|
|
|
{
|
|
|
BBOOL bSuccess = TRUE;
|
|
|
|
|
|
memset(&pAITracker->m_Ai_TkCmd, 0, sizeof(AIT_Command));
|
|
|
pAITracker->m_Ai_TkCmd.bTrack = true;
|
|
|
|
|
|
OBJECTSTATUS* pObjStatusAI = pAITracker->GetTrackeStatus();
|
|
|
|
|
|
//遮挡状态判断
|
|
|
tkEventAI->occ = pOccJudge->OCC_FrameProcess(p_GLB_Input, pObjStatusAI, pAITracker->GetAIPara(), pTLDPara);
|
|
|
|
|
|
//记忆跟踪状态更新
|
|
|
if (tkEventAI->occ == FULL_OCC)
|
|
|
{
|
|
|
bSuccess = pAITracker->AIT_MemTracker(pObjStatusAI, p_GLB_Input->nImageWidth, p_GLB_Input->nImageHeight, p_GLB_Input);
|
|
|
ObjStatusAI = *pAITracker->GetTrackeStatus();
|
|
|
return bSuccess;
|
|
|
}
|
|
|
|
|
|
//正常跟踪状态更新
|
|
|
pAITracker->AIT_UpdateTracker(p_GLB_Input->nImageWidth, p_GLB_Input->nImageHeight, pObjStatusAI, p_GLB_Input);
|
|
|
ObjStatusAI = *pAITracker->GetTrackeStatus();
|
|
|
|
|
|
return bSuccess;
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
CENTERRECT CustomTracker::getKCFTracker_SrBox()
|
|
|
{
|
|
|
return m_pKCFTracker->KCF_GetSrBox();
|
|
|
}
|
|
|
|
|
|
|
|
|
CENTERRECT CustomTracker::getTLD_SrBox()
|
|
|
{
|
|
|
CENTERRECT rc = { 0 };
|
|
|
RECT32S srBox = m_pTLDTracker->TLD_GetSearchRect();
|
|
|
rc.cx = srBox.x + srBox.w / 2;
|
|
|
rc.cy = srBox.y + srBox.h / 2;
|
|
|
rc.w = srBox.w;
|
|
|
rc.h = srBox.h;
|
|
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return rc;
|
|
|
}
|
