|
|
// 单目标对空跟踪流程测试，关注跟踪器FPS
|
|
|
|
|
|
#include "NeoArithStandardDll.h"
|
|
|
#include "utils.h"
|
|
|
#include <iostream>
|
|
|
#include <memory>
|
|
|
#include <string.h>
|
|
|
#include <algorithm>
|
|
|
#include <thread>
|
|
|
#include "opencv2/opencv.hpp"
|
|
|
|
|
|
using std::cout;
|
|
|
using std::endl;
|
|
|
int main()
|
|
|
{
|
|
|
// 产生一个仿真Y16数据
|
|
|
int nWidth = 640;
|
|
|
int nHeight = 512;
|
|
|
SimTargetImage_Y16 factory(nWidth, nHeight);
|
|
|
factory.setBackGround(5000, 10);
|
|
|
// 叠加一个初始目标
|
|
|
float moveX = 100;
|
|
|
float moveY = 100;
|
|
|
float size = 3;
|
|
|
float spdx = 1;
|
|
|
float spdy = 1;
|
|
|
factory.addTarget(moveX, moveY, size, size, 6500);
|
|
|
|
|
|
// 创建算法句柄
|
|
|
ArithHandle pTracker = STD_CreatEOArithHandle();
|
|
|
// 初始化为凝视-对空模式
|
|
|
ARIDLL_EOArithInitWithMode(pTracker,nWidth,nHeight,GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16,
|
|
|
GLB_SYS_MODE::GLB_SYS_STARE,GLB_SCEN_MODE::GLB_SCEN_SKY);
|
|
|
|
|
|
// 算法输入部分
|
|
|
ARIDLL_INPUTPARA stInputPara = { 0 };
|
|
|
stInputPara.unFrmId++;
|
|
|
stInputPara.stCameraInfo.fPixelSize = 15;
|
|
|
stInputPara.stCameraInfo.nFocus = 300;
|
|
|
|
|
|
// 算法输出部分
|
|
|
ARIDLL_OUTPUT stOutput = { 0 };
|
|
|
//cv::VideoWriter writer("output.avi",cv::VideoWriter::fourcc('M', 'J', 'P', 'G'),25,cv::Size(nWidth,nHeight),true);
|
|
|
|
|
|
// 模拟算法执行流程
|
|
|
int nTrackSuc = 0;
|
|
|
for (int i = 0; i < 300; i++)
|
|
|
{
|
|
|
stInputPara.unFrmId++;
|
|
|
|
|
|
// 目标开始运动
|
|
|
factory.setBackGround(5000, 10);
|
|
|
moveX += spdx;
|
|
|
moveY += spdy;
|
|
|
|
|
|
|
|
|
size = 3 + i/20;
|
|
|
factory.addTarget((int)moveX, (int)moveY, (int)size, (int)size, 6500);
|
|
|
|
|
|
// 3个波门内目标
|
|
|
factory.addTarget((int)moveX - 20, (int)moveY, 3, 3, 6500);
|
|
|
factory.addTarget((int)moveX, (int)moveY + 20 , 3, 3, 6500);
|
|
|
factory.addTarget((int)moveX - 20 , (int)moveY +20, 3, 3, 6500);
|
|
|
|
|
|
// 下发点锁定指令
|
|
|
if (i == 30)
|
|
|
{
|
|
|
//ARIDLL_LockCommand(pTracker, (int)moveX, (int)moveY,0,0);
|
|
|
}
|
|
|
|
|
|
// 构建图像类型
|
|
|
GD_VIDEO_FRAME_S img = { 0 };
|
|
|
img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16;
|
|
|
img.u32Width = nWidth;
|
|
|
img.u32Height = nHeight;
|
|
|
img.u32Stride[0] = img.u32Width * 2;
|
|
|
img.u64VirAddr[0] = (UBYTE8*)factory.getImageData();
|
|
|
|
|
|
// 红外目标检测API调用
|
|
|
int targetNum = 0;
|
|
|
|
|
|
// 目标搜索仅在搜索状态执行，保持与经典对空算法一致，用于与上一版本耗时对比
|
|
|
// 新跟踪器中搜索在单独线程中不间断执行，本demo中仅展示用法，不做并行示范。
|
|
|
|
|
|
cv::TickMeter t1;
|
|
|
t1.start();
|
|
|
targetNum = ARIDLL_SearchFrameTargets(pTracker, img);
|
|
|
t1.stop();
|
|
|
double time_sr = t1.getTimeMilli();
|
|
|
|
|
|
|
|
|
t1.reset();
|
|
|
t1.start();
|
|
|
//cv::TickMeter t2;
|
|
|
// 运行算法主控逻辑API
|
|
|
ARIDLL_RunController(pTracker, img, stInputPara, &stOutput);
|
|
|
//t2.stop();
|
|
|
t1.stop();
|
|
|
double time_main = t1.getTimeMilli();
|
|
|
|
|
|
|
|
|
// // 绘制跟踪结果
|
|
|
// cv::Mat src = factory.getMatRGB();
|
|
|
|
|
|
// auto trackerOut = stOutput.stTrackers[0];
|
|
|
// cv::Rect outRect;
|
|
|
// outRect.width = MAX(15,int(trackerOut.nObjW));
|
|
|
// outRect.height= MAX(15,int(trackerOut.nObjW));
|
|
|
// outRect.x = trackerOut.nX-outRect.width/2.0;
|
|
|
// outRect.y = trackerOut.nX-outRect.height/2.0;
|
|
|
// cv::rectangle(src,outRect,cv::Scalar(0,0,255));
|
|
|
// char str[100];
|
|
|
// sprintf(str,"%d-%d,%d,%d,%f,%f",i,int(stOutput.stTrackers[0].nX - moveX),int(stOutput.stTrackers[0].nY - moveY),stOutput.stTrackers->nPipeLostCnt,
|
|
|
// time_sr,time_main);
|
|
|
// cv::putText(src,cv::String(str),cv::Point(outRect.x - 10,outRect.y),1,2,cv::Scalar(255,255,0));
|
|
|
printf("time: %f,%f\n",time_sr,time_main);
|
|
|
|
|
|
//writer<<src;
|
|
|
|
|
|
|
|
|
if (stOutput.nStatus == GLB_STATUS_TRACK && stOutput.nTrackObjCnts == 1)
|
|
|
{
|
|
|
if (abs(stOutput.stTrackers[0].nX - moveX) < 5 &&
|
|
|
abs(stOutput.stTrackers[0].nY - moveY) < 5)
|
|
|
{
|
|
|
nTrackSuc++;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
//writer.release();
|
|
|
|
|
|
|
|
|
if (nTrackSuc > 270 * 0.99)
|
|
|
{
|
|
|
cout << "pass" << endl;
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
return 0;
|
|
|
} |
