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#ifndef _CommDef_H_
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#define _CommDef_H_
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namespace Commdef
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{
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#define TEST_OFFSET_RAM 0x00000000 //(1024*1024*1024-TEST_BUFF_LEN)
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#define MAX_UP_SIZE 20*1024*1024
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#define MAX_FRAME_LENGTH 32768 // 每包最大128字节有效数据
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#define BUFF_SIZE 1040
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#ifndef _byte_def_
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#define _byte_def_
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typedef unsigned char BYTE, Byte, byte, UBYTE8;
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#endif
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using namespace std;
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#define DEFAULT_IMAGE_WIDTH 1920
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#define DEFAULT_IMAGE_HEIGHT 1080
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#define DEFAULT_IMAGE_MAX_SIZE (DEFAULT_IMAGE_WIDTH * DEFAULT_IMAGE_HEIGHT * 4)
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#ifndef _ushort_def_
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#define _ushort_def_
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typedef unsigned short USHORT, UINT16;
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#endif
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#ifndef _short_def_
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#define _short_def_
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typedef signed short SHORT, SINT16;
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#endif
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#ifndef _float_def_
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#define _float_def_
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typedef float FLOAT32;
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#endif
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#ifndef _uint_def_
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#define _uint_def_
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typedef unsigned int UINT, UINT32;
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#endif
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#ifndef _int_def_
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#define _int_def_
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typedef signed int INT, INT32, SINT32;
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#endif
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#define STREAM_ID_VL (0)
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#define STREAM_ID_IR (1)
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#define MAX_SPEED_LEVEL 10000 //手动控制最高速度等级
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#define MIN_SPEED_LEVEL 1 //手动控制最低速度等级
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#define DEFAULT_SPEED_LEVEL 100 //手动控制默认速度等级
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#define REAL_SPEED_VALUE 80 //伺服控制最大速度 80 °/s
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#define IMAGE_VL_TRACK_W (1920) //可见光跟踪区域宽度
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#define IMAGE_VL_TRACK_H (1080) //可见光跟踪区域高度
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#define IMAGE_IR_TRACK_W (640) //红外跟踪区域宽度
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#define IMAGE_IR_TRACK_H (512)
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//#define USE_GL
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enum VideoFormatType
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{
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VideoFormatTypeIR = 0, //红外
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VideoFormatTypeVL = 1, //可见光
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};
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typedef enum eResultShowFlag
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{
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ResultShowFlagDetectObj = 1, //图像上绘制检测目标
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ResultShowFlagTrackObj, //图像上绘制跟踪目标
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}ResultShowFlag;
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/*******************DSP跟踪算法结果*******************/
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typedef struct SoftVersionStruct
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{
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unsigned char x_a;
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unsigned char y;
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unsigned short year;
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unsigned char day;
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unsigned char month;
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} SoftVersion;
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typedef struct ServoInputCmdStruct
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{
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UBYTE8 ServoInfo[40];
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}ServoInputCmd;
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typedef struct ServoInfoOutputStruct
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{
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UBYTE8 ServoMode;
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UBYTE8 Servo_Version;
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UINT16 Reserved3;
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UINT32 Servo_SelfTest;
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float Servo_AzAngle;
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float Servo_PtAngle;
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float Servo_AzSpeed;
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float Servo_PtSpeed;
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int Reserved;
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}ServoInfoOutput;
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typedef struct POSInfoOutputStruct
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{
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float HeadingAngle;
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float PitchingAngle;
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float RollingAngle;
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float Longitude;
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float Latitude;
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int Height;
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UINT16 Reserved[4];
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}POSInfoOutput;
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typedef struct ServoAndPOSInfoOutputStruct
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{
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// ServoInputCmd ServoInputInfo;
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// UINT16 Reserved[10];
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ServoInfoOutput ServoInfo;
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POSInfoOutput POSInfo;
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} ServoAndPOSInfoOutput;
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typedef struct LaserInfoOutputStruct
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{
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SINT16 Freq;
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UBYTE8 Status;
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UBYTE8 SelfTest;
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SINT32 Dist;
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SINT16 Reserved;
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} LaserInfoOutput;
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typedef struct OutVectoringInfoOutputStruct
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{
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UBYTE8 VectorObjType;
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UBYTE8 TrackerObjType;
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float AzAngleAtServo;
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float PtAngleAtServo;
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float AzAngleAtGeography;
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float PtAngleAtGeography;
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UINT32 Dist;
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UINT16 Reserved[4];
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}OutVectoringInfoOutput;
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typedef struct TrackerObjectOutputStruct
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{
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UBYTE8 ID;
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UBYTE8 Type;
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SINT16 X;
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SINT16 Y;
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SINT16 W;
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SINT16 H;
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SINT16 DeltX;
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SINT16 DeltY;
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SINT16 AzAngle;
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SINT16 PtAngle;
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SINT16 Reserved;
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}TrackerObjectOutput;
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typedef struct DetectObjectOutputStruct
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{
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UBYTE8 ID;
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UBYTE8 ArithType;
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SINT16 X;
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SINT16 Y;
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UBYTE8 W;
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UBYTE8 H;
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// UBYTE8 SNR;
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// UBYTE8 ObjType;
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UINT16 PixSize;
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}DetectObjectOutput;
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typedef struct tagDLLDEBUGINFOOutput
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{
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SINT16 fDebug_KCF_MAXRes;
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SINT16 fDebug_KCF_CurThres;
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SINT16 nDebug_KCF_BestScale;
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SINT16 nDebug_Lost_Cnts;
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SINT16 nDebug_LK_CX;
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SINT16 nDebug__LK_CY;
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SINT16 nDebug_LK_W;
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SINT16 nDebug_LK_H;
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SINT16 nDebug_Recap_CX;
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SINT16 nDebug_Recap_CY;
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SINT16 nDebug_Recap_W;
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SINT16 nDebug_Recap_H;
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SINT16 nDebug_Recap_Cnts;
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SINT16 nDebug_Aim_Cnts;
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SINT16 nDebug_ObjDivison_CX;
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SINT16 nDebug_ObjDivison_CY;
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SINT16 nDebug_ObjDivison_W;
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SINT16 nDebug_ObjDivison_H;
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SINT16 nDebug_SmallObjCnts;
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SINT16 nDebug_DimObjCnts;
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SINT16 nDebug_AreaObjCnts;
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SINT16 nDebug_MoveObjCnts;
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SINT16 nDebug_AiObjCnts;
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SINT16 nDebug_ObjCnts;
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unsigned char bDebug_LK_Success;
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unsigned char Reserved;
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}ARIDLL_DEBUG_INFOOutput;
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typedef struct tagSIMULATE_OUTPUT
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{
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UINT16 ubSimulateValid;
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//目标参数
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SINT16 nTargetPosX;
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SINT16 nTargetPosY;
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UBYTE8 nTargetWidth;
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UBYTE8 nTargetHeight;
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UINT16 nTargetGray;
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}SIMULATE_OUTPUT;
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//DSP
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typedef struct tagTrackerResultOutput_DSP
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{
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UINT16 FrameHead[4];
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UINT32 FrameID_IMG; //输入图像帧编号(跟踪结果对应图像帧)
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UINT32 FrameID_DSP; //DSP 图像帧
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UINT16 AgreeMentVersion; //标准协议版本
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UINT16 Length; //参数方行数
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UINT16 DSP_SelfTest; //DSP自检结果
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UINT16 Reserved1;
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SoftVersion DSPSoftVersion;
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UINT16 RunTime[8]; //算法运算时间
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UINT16 Video1FrameRate; //视频源1帧频
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UINT16 Video2FrameRate; //视频源2帧频
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UINT16 Video3FrameRate; //视频源3帧频
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UINT16 Video4FrameRate; //视频源4帧频
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UINT16 Reserved2[3];
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UINT16 VideoSource; //图像视频源
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UINT16 Resol; //像元角分辨率
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UINT16 Focus;
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UINT16 ImgWidth; //图像宽
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UINT16 ImgHeight; //图像高
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UINT16 ProcessWidth; //算法处理图像宽
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UINT16 ProcessHeight; //算法处理图像高
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UBYTE8 ProcessMode;//算法图像截取方式
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UBYTE8 ImgType; //红外图像像素类型
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UINT16 ProcessCenterX;
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UINT16 ProcessCenterY;
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ServoAndPOSInfoOutput ServoAndPOSInfo;
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LaserInfoOutput LaserInfo;
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OutVectoringInfoOutput OutVectoringInfo;
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UBYTE8 SysMode; //DSP
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UBYTE8 WorkScene;
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UBYTE8 WorkMode;
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UBYTE8 CursorShowFlag; //光标显示/消隐
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UINT16 CursorX;
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UINT16 CursorY;
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SINT16 DeltX;
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SINT16 DeltY;
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UBYTE8 ObjDetectCnt; //目标检测个数
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UBYTE8 ObjTrackCnt; //目标跟踪个数
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UBYTE8 ObjTrackArith; //目标跟踪算法标识
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UBYTE8 ObjDetectArith; //目标检测算法标识
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UBYTE8 ObjReDetectArith; //重补算法标识
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UBYTE8 Reserved3;
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UBYTE8 ReCorrectFlag;
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UBYTE8 Reserved4;
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TrackerObjectOutput TrackerObject[10];
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DetectObjectOutput DetectObject[20];
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ARIDLL_DEBUG_INFOOutput DebugInfo;
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SIMULATE_OUTPUT SimulateObj[5];
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UINT16 Reserved5[288]; //目标跟踪结果
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UINT16 Reserved6;
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UINT16 TrackerXOR;
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UINT16 Reserved7[360]; //跟踪板算法参数(需界面显示)
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UINT16 nObjCntPerFrame; //单帧目标检测结果
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UINT16 Reserved8[919]; //单帧目标检测结果
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UINT16 nObjCntInPipe; //管道目标个数
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UINT16 Reserved9[1801]; //管道结果
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UINT16 Reserved10[113];
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UINT16 Xor;
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UINT16 FrameEnd[4];
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}TrackerResultOutput_DSP;
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#define SOURCE_VEDIO_NUM (16)
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//十字框的颜色和类型
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#define CURSOR_COLOR_WHITE 0
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#define CURSOR_COLOR_BLACK 1
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#define CURSOR_COLOR_RED 2
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#define CURSOR_COLOR_GREEN 3
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#define CURSOR_COLOR_YELLOW 4
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#define CURSOR_TYPE_SOLID 0 //实心十字
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#define CURSOR_TYPE_HOLLOW 1 //空心十字
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//目标框的颜色和类型
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#define OBJBOX_COLOR_WHITE 0
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#define OBJBOX_COLOR_BLACK 1
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#define OBJBOX_COLOR_RED 2
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#define OBJBOX_COLOR_GREEN 3
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#define OBJBOX_COLOR_YELLOW 4
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#define OBJBOX_TYPE_SOLID 0 //实线框
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#define OBJBOX_TYPE_DOTTED 1 //虚线框
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#define OBJBOX_TYPE_DOTTEDFLASH 2 //虚线框闪烁
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#define OBJBOX_TYPE_QUADRANGLES 3 //四角框
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#define OBJBOX_TYPE_CROSS 4 //四角框
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//字符块的颜色和类型
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#define CHARBLOCK_COLOR_WHITE 0
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#define CHARBLOCK_COLOR_BLACK 1
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#define CHARBLOCK_COLOR_RED 2
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#define CHARBLOCK_COLOR_GREEN 3
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#define CHARBLOCK_COLOR_YELLOW 4
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#define CHARBLOCK_TYPE_FTRANSP 0 //全透明
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#define CHARBLOCK_TYPE_HTRANSP 1 //半透明
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#define CHARBLOCK_TYPE_BGBLACK 2 //背景全黑
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#define CHARBLOCK_TYPE_BGWHITE 3 //背景全白
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#define VISTEP_X 16 //可见光x轴方向缩放步长
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#define VISTEP_Y 9 //可见光y轴方向缩放步长
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#define IRSTEP_X 5 //红外x轴方向缩放步长
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#define IRSTEP_Y 4 //红外y轴方向缩放步长
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#define TestInfoNum 11 //测试信息组数
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typedef struct TagParaLineAnalyseInfo
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{
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UINT32 uiContrlCmdTotalNum; //进入控制命令参数行解析的总数
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UINT32 uiAIResultTotalNum; //进入AI结果参数行解析的总数
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UINT32 uiIRInfoTotalNum; //进入IR参数行解析的总数
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UINT32 uiContrCmdHeaderErrorNum; //控制命令参数行头错误与AI结果参数行头错误的总数
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UINT32 uiAIResultHeaderErrorNum; //AI结果参数行头不对的总数
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UINT32 uiIRInfoHeaderErrorNum; //IR头不对的总数
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UINT32 uiContrCmdLenErrorNum; //控制命令参数行长度错误的计数
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UINT32 uiAIResultLenErrorNum; //AI结果参数行长度错误的计数
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UINT32 uiContrCmdTailErrorNum; //控制命令参数行尾部不正确
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UINT32 uiAIResultTailErrorNum; //AI结果参数行尾部不正确
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// UINT32 uiIRInfoTailErrorNum; //IR参数行尾部不正确
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UINT32 uiContrCmdCheckErrorNum; //控制命令参数行校验不正确
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UINT32 uiAIResultCheckErrorNum; //AI结果参数行校验不正确
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UINT32 uiIRInfoCheckErrorNum; //IR参数行校验不正确
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UINT32 uiContrCmdParaSetNum; //控制命令算法参数设置命令总数
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UINT32 uiTrackContrCmd1Num; //控制命令算法参数中跟踪命令1总数
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UINT32 uiTrackContrCmd2Num; //控制命令算法参数中跟踪命令2总数
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UINT32 uiTrackContrCmd3Num; //控制命令算法参数中跟踪命令3总数
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UINT32 uiContrCmd1Num; //控制命令算法参数中控制命令1总数
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UINT32 uiContrCmd2Num; //控制命令算法参数中控制命令1总数
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UINT32 uiAIResultNum; //正确解析的AI结果计数
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UINT32 uiIRResultNnm; //正确解析的IR结果计数
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UINT32 uiFpgaFrameNumNoContinue; //fpga帧编号不连续计数
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UINT32 uiFpgaFrameCurrentNum; //不连续时当前帧的帧编号
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UINT32 uiFpgaFramePreNum; //不连续时上一帧的帧编号
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}TParaLineAnalyseInfo;
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//软件版本信息
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typedef struct TagSoftVersionInfo
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{
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unsigned char a : 4;
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unsigned char x : 4;
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unsigned char y;
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unsigned short year;
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unsigned char day;
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unsigned char month;
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}TSoftVersionInfo;
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//光纤信息
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typedef struct TagFiberInputInfo
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{
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UINT16 usFiberInputImgWidth;
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UINT16 usFiberInputImgHeight;
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UINT16 usFiberInputPeriod;
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UINT16 usLvdstoArmImgWidth;
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UINT16 usLvdstoArmImgHeight;
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}TFiberInputInfo;
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//参数行头
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typedef struct TagParaLineHeader
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{
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UINT16 usHeaderTag[4]; //固定头
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UINT32 uiFrameNum; //帧编号
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UINT32 uiChipFrameNum; //各自的器件帧编号
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UINT16 usVersion; //协议版本号
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UINT16 usParaLineLen; //参数行总数
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}TParaLineHeader;
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//参数行尾部
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typedef struct TagParaLineTail
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{
|
|
|
UINT16 usCheckSum; //校验和
|
|
|
UINT16 usTailTag[4]; //帧尾
|
|
|
}TParaLineTail;
|
|
|
|
|
|
|
|
|
|
|
|
/*********************************************************************************/
|
|
|
//控制命令参数行
|
|
|
typedef struct TagContrCmdInfo
|
|
|
{
|
|
|
TParaLineHeader tContrCmdHeader; //参数行头
|
|
|
UINT16 usFpgaCheckResult[2]; //fpga自检结果
|
|
|
TSoftVersionInfo tSoftVersionInfo; //软件版本信息
|
|
|
UINT16 usRecvUartCmdCnt; //接收综控串口命令总数
|
|
|
UINT16 usSendDspCmdCnt; //发送给dsp串口命令总数
|
|
|
UINT16 resv0[3];
|
|
|
TFiberInputInfo stFiberInputInfo[4]; //光纤信息
|
|
|
UINT16 resv1[20]; //预留
|
|
|
UINT16 usContrCmd1Flag; //控制命令1有效标志
|
|
|
UBYTE8 ucContrCmd1[38]; //控制命令1
|
|
|
UINT16 usContrCmd2Flag; //控制命令1有效标志
|
|
|
UBYTE8 ucContrCmd2[38]; //控制命令1
|
|
|
UINT16 usCycleCmdFlag; //周期指令
|
|
|
UBYTE8 ucCycleCmd[128]; //周期指令内容
|
|
|
UINT16 resv2[35]; //预留
|
|
|
UINT16 usAlgoParaSetCmdFlag; //算法参数设置命令有效标志
|
|
|
UBYTE8 ucAlgoParaSetCmd[118]; //算法参数设置命令
|
|
|
UINT16 usTrackContrCmd1Flag; //跟踪控制命令有效标志
|
|
|
UBYTE8 ucTrackContrCmd1[38]; //跟踪控制命令
|
|
|
UINT16 usTrackContrCmd2Flag; //跟踪控制命令有效标志
|
|
|
UBYTE8 ucTrackContrCmd2[38]; //跟踪控制命令
|
|
|
UINT16 usTrackContrCmd3Flag; //跟踪控制命令有效标志
|
|
|
UBYTE8 ucTrackContrCmd3[38]; //跟踪控制命令
|
|
|
UBYTE8 ucFeedbackCmdFlag; //反馈指令有效标志
|
|
|
UBYTE8 ucFeedbackCmdBytes; //反馈指令总字节数，最大255个字节
|
|
|
UBYTE8 ucFeedbackCmd[256]; //反馈内容
|
|
|
UINT16 resv3[186]; //预留
|
|
|
TParaLineTail tContrCmdTail; //控制命令帧尾
|
|
|
}TContrCmdInfo;
|
|
|
|
|
|
|
|
|
|
|
|
/*********************************************************************************/
|
|
|
//注入参数行
|
|
|
typedef struct TagInjectParaInfo
|
|
|
{
|
|
|
TParaLineHeader tContrCmdHeader; //参数行头
|
|
|
UINT16 usResv0[2]; //预留
|
|
|
TSoftVersionInfo tSoftVersionInfo; //软件版本信息
|
|
|
UINT16 usResv1[5]; //预留
|
|
|
UINT16 usVideoSrc; //视频源类型
|
|
|
UINT16 ImgWidth; //图像宽度
|
|
|
UINT16 ImgHeight; //图像高度
|
|
|
UINT16 usFocus; //焦距值
|
|
|
UINT16 usPixelSize; //像元尺寸
|
|
|
UINT16 usSvoAglReso; //像元角分辨率
|
|
|
UINT16 usResv2[2]; //预留
|
|
|
FLOAT32 fServoAz; //伺服方位角
|
|
|
FLOAT32 fServoPt; //伺服俯仰角
|
|
|
FLOAT32 fTagENUAz; //目标当前东北天下方位角
|
|
|
FLOAT32 fTagENUPt; //目标当前东北天下俯仰角
|
|
|
FLOAT32 fRoll; //载体横滚角
|
|
|
FLOAT32 fPitch; //载体俯仰角
|
|
|
FLOAT32 fYaw; //载体方位角
|
|
|
UINT16 usResv3[593]; //预留
|
|
|
TParaLineTail tContrCmdTail; //控制命令帧尾
|
|
|
}TInjectParaInfo;
|
|
|
|
|
|
|
|
|
/********************************************************************************/
|
|
|
//ARM AI结果参数行
|
|
|
typedef struct TagAIResultInfo
|
|
|
{
|
|
|
TParaLineHeader tAIResultHeader; //参数行头
|
|
|
UINT16 usArmCheckResult; //arm自检结果
|
|
|
UINT16 resv1; //保留
|
|
|
TSoftVersionInfo tSoftVersionInfo; //软件版本信息
|
|
|
|
|
|
UINT16 resv[620];
|
|
|
|
|
|
TParaLineTail tAIResultTail; //帧尾
|
|
|
}TAIResultInfo;
|
|
|
|
|
|
/***********************************************************************************/
|
|
|
/*********************dsp跟踪结果信息**************************************************/
|
|
|
//伺服输出信息
|
|
|
typedef struct TagServoInfoOutput
|
|
|
{
|
|
|
UBYTE8 ucServoMode; //伺服工作模式
|
|
|
UBYTE8 ucServoVersion; //伺服版本
|
|
|
UINT16 resv1; //预留
|
|
|
UINT32 uiServoSelfTest; //伺服自检信息
|
|
|
float fServoAzAngle; //伺服方位角
|
|
|
float fServoPtAngle; //伺服俯仰角
|
|
|
float fServoAzSpeed; //方位角速度
|
|
|
float fServoPtSpeed; //俯仰角速度
|
|
|
SINT32 resv2; //预留
|
|
|
}TServoInfoOutput;
|
|
|
|
|
|
|
|
|
//定位定向信息
|
|
|
typedef struct TagPOSInfoOutput
|
|
|
{
|
|
|
float fHeadingAngle;
|
|
|
float fPitchingAngle;
|
|
|
float fRollinggAngle;
|
|
|
float fLongitude;
|
|
|
float fLatitude;
|
|
|
SINT32 siHeight;
|
|
|
SINT16 Reserved[4];
|
|
|
}TPOSInfoOutput;
|
|
|
|
|
|
|
|
|
//伺服及定位定向信息
|
|
|
typedef struct TagServoAndPOSInfoOutput
|
|
|
{
|
|
|
TServoInfoOutput tServoInfo; //伺服信息
|
|
|
TPOSInfoOutput tPOSInfo; //定位定向信息
|
|
|
}TServoAndPosInfoOutput;
|
|
|
|
|
|
|
|
|
//激光测距
|
|
|
typedef struct TagLaserInfoOutput
|
|
|
{
|
|
|
UINT16 usLaerCeJuFreq; //激光测距频率
|
|
|
UBYTE8 usLaerCeJuStatus; //激光测距状态
|
|
|
UBYTE8 usLaerSelfTest; //激光测距自检信息
|
|
|
UINT32 usLaerCeJuDist; //激光测距值
|
|
|
SINT16 Reserved; //保留
|
|
|
}TLaserInfoOutput;
|
|
|
|
|
|
|
|
|
//外引导信息
|
|
|
typedef struct TagOutVectoringInfoOutput
|
|
|
{
|
|
|
UBYTE8 ucVectorObjType; //外引导目标类型
|
|
|
UBYTE8 ucTrackerObjType; //跟踪目标类型
|
|
|
float fAzAngleAtServo; //外引导方位角（伺服系）
|
|
|
float fPtAngleAtServo; //外引导俯仰角（伺服系）
|
|
|
float fAzAngleAtGeography; //外引导方位角（地理系）
|
|
|
float fPtAngleAtGeography; //外引导俯仰角（地理系）
|
|
|
UINT32 uiDist; //外引导距离
|
|
|
UINT16 Reserved[4];
|
|
|
}TOutVectoringInfoOutput;
|
|
|
|
|
|
|
|
|
|
|
|
//跟踪目标信息
|
|
|
typedef struct TagTrackerObjectOutput
|
|
|
{
|
|
|
UBYTE8 ucTargetId;
|
|
|
UBYTE8 ucTargetType;
|
|
|
UINT16 X;
|
|
|
UINT16 Y;
|
|
|
UINT16 W;
|
|
|
UINT16 H;
|
|
|
SINT16 DeltX;
|
|
|
SINT16 DeltY;
|
|
|
SINT16 AzAngle;
|
|
|
SINT16 PtAngle;
|
|
|
SINT16 Reserved;
|
|
|
}TTrackerObjectOutput;
|
|
|
//Q_DECLARE_METATYPE(TTrackerObjectOutput)
|
|
|
|
|
|
//检测目标信息
|
|
|
typedef struct TagDetectObjectOutput
|
|
|
{
|
|
|
UBYTE8 ucTargetId;
|
|
|
UBYTE8 ucArithType;
|
|
|
UINT16 X;
|
|
|
UINT16 Y;
|
|
|
UBYTE8 W;
|
|
|
UBYTE8 H;
|
|
|
UBYTE8 SNR;
|
|
|
UBYTE8 ObjType;
|
|
|
}TDetectObjectOutput;
|
|
|
//Q_DECLARE_METATYPE(TDetectObjectOutput)
|
|
|
|
|
|
//界面显示测试信息
|
|
|
typedef struct TagDllDebugInfoOutput
|
|
|
{
|
|
|
SINT16 fDebug_KCF_MaxRes; //当前KCF响应值
|
|
|
SINT16 fDebug_KCF_CurThres; //当前KCF的阈值
|
|
|
SINT16 nDebug_KCF_BestScale; //当前最优尺度
|
|
|
SINT16 nDebug_Lost_Cnts; //丢失帧数计数
|
|
|
SINT16 nDebug_LK_CX; //LK中心点X位置
|
|
|
SINT16 nDebug_LK_CY; //LK中心点Y位置
|
|
|
SINT16 nDebug_LK_W; //LK跟踪宽度W
|
|
|
SINT16 nDebug_LK_H; //LK跟踪高度H
|
|
|
|
|
|
|
|
|
SINT16 nDebug_Recap_CX; //重捕区域中心X
|
|
|
SINT16 nDebug_Recap_CY; //重捕区域中心Y
|
|
|
SINT16 nDebug_Recap_W; //重捕区域宽度W
|
|
|
SINT16 nDebug_Recap_H; //重捕区域高度H
|
|
|
SINT16 nDebug_Recap_Cnts; //重捕帧数计数
|
|
|
|
|
|
|
|
|
SINT16 nDebug_Aim_Cnts; //捕获(定位)最准帧数
|
|
|
|
|
|
|
|
|
SINT16 nDebug_ObjDivison_CX; //目标分割中心点X
|
|
|
SINT16 nDebug_ObjDivison_CY; //目标分割中心点Y
|
|
|
SINT16 nDebug_ObjDivison_W; //目标分割中心点W
|
|
|
SINT16 nDebug_ObjDivison_H; //目标分割中心点H
|
|
|
|
|
|
|
|
|
SINT16 nDebug_SmallObjCnts; //小目标检测的个数
|
|
|
SINT16 nDebug_DimObjCnts; //弱小目标检测的个数
|
|
|
SINT16 nDebug_AreaObjCnts; //面目标检测的个数
|
|
|
SINT16 nDebug_MoveObjCnts; //运动目标检测的个数
|
|
|
SINT16 nDebug_AiObjCnts; //AI目标识别的个数
|
|
|
|
|
|
|
|
|
SINT16 nDebug_ObjCnts; //最终目标检测个数
|
|
|
|
|
|
|
|
|
UBYTE8 bDebug_LK_Success; //当前帧LK跟踪是否成功
|
|
|
UBYTE8 Reserved;
|
|
|
}TDllDebugInfoOutput;
|
|
|
//模拟目标信息
|
|
|
typedef struct tagSimulateOutput
|
|
|
{
|
|
|
UINT16 ubSimulateValid; //模拟类型：0-不叠加模拟目标，1-叠加模拟目标
|
|
|
|
|
|
|
|
|
//目标的参数
|
|
|
UINT16 nTargetPosX; //目标X坐标
|
|
|
UINT16 nTargetPosY; //目标Y坐标
|
|
|
UBYTE8 unTargetWidth; //目标宽度
|
|
|
UBYTE8 unTargetHeight; //目标高度
|
|
|
UINT16 unTargetGray; //目标灰度
|
|
|
} TSimulateOutput;
|
|
|
//Q_DECLARE_METATYPE(TSimulateOutput)
|
|
|
|
|
|
typedef struct ImgScalingPara
|
|
|
{
|
|
|
UINT16 usImageShowWidth; //显示图像宽度
|
|
|
UINT16 usImageShowHeight; //显示图像高度
|
|
|
UINT16 usScreenshotBeginX; //截图从X坐标开始
|
|
|
UINT16 usScreenshotBeginY; //截图从Y坐标开始
|
|
|
UINT16 usScreenshotWidth; //截图后的宽度
|
|
|
UINT16 usScreenshotHeight; //截图后的高度
|
|
|
UINT16 usScalingWidth; //缩放后的图像宽
|
|
|
UINT16 usScalingHeight; //缩放后的图像高
|
|
|
}TImgScalingPara;
|
|
|
|
|
|
|
|
|
//DSP跟踪结果参数行
|
|
|
typedef struct TagTrackResultInfo
|
|
|
{
|
|
|
TParaLineHeader tTrackResultHeader; //参数行头
|
|
|
UINT16 usDspCheckResult; //dsp自检结果
|
|
|
UINT16 resv1; //保留
|
|
|
TSoftVersionInfo tSoftVersionInfo; //软件版本信息
|
|
|
UINT16 usCoreRunTime[8]; //8个核算法运行时间
|
|
|
UINT16 usFiberInputPeroid[4]; //4路光纤输入帧频
|
|
|
UINT16 resv2[3]; //预留
|
|
|
UINT16 usVideoSrc; //视频源
|
|
|
UINT16 usResol; //像元角分辨率，量化单位0.0001
|
|
|
UINT16 usFocus; //焦距
|
|
|
UINT16 usImgWidth; //输入图像宽
|
|
|
UINT16 usImgHeight; //输入图像高
|
|
|
UINT16 usProcessWidth; //算法处理图像宽
|
|
|
UINT16 usProcessHeight; //算法处理图像高
|
|
|
UBYTE8 ucProcessMode; //算法处理图像截取方式
|
|
|
UBYTE8 ucImgType; //红外图像像素类型
|
|
|
UINT16 ucProcessCenterInOrignImgX; //处理图像中心在原图上的X坐标
|
|
|
UINT16 ucProcessCenterInOrignImgY; //处理图像中心在原图上的Y坐标
|
|
|
TServoAndPosInfoOutput tServoAndPosInfo; //伺服及定位定向信息
|
|
|
TLaserInfoOutput tLaerInfo; //激光测距信息
|
|
|
TOutVectoringInfoOutput tOutVectoringInfo; //外引导信息
|
|
|
UBYTE8 ucSysMode; //系统模式
|
|
|
UBYTE8 ucWorkScence; //跟踪场景类型
|
|
|
UBYTE8 ucWorkMode; //工作模式
|
|
|
UBYTE8 ucCursorShowFlag; //光标显示或消隐
|
|
|
UINT16 usCursorX; //光轴x坐标
|
|
|
UINT16 usCursorY; //光轴y坐标
|
|
|
SINT16 ssDeltX; //跟踪/检测目标1方位取差量，量化单位360/65535
|
|
|
SINT16 ssDeltY; //跟踪/检测目标1俯仰取差量，量化单位360/65535
|
|
|
UBYTE8 ucObjDetectCnt; //单帧检测到的目标总个数
|
|
|
UBYTE8 ucObjTrackerCnt; //单帧跟踪到的目标总个数
|
|
|
UBYTE8 ucTrackerArithType; //目标跟踪算法标识
|
|
|
UBYTE8 ucObjDetectArithType; //目标检测算法标识
|
|
|
UBYTE8 ucReDetectArithType; //重捕算法标识
|
|
|
UBYTE8 Reserved3;
|
|
|
UBYTE8 ucReCorrectFlag; //二次修正标志
|
|
|
UBYTE8 Reserved4;
|
|
|
TTrackerObjectOutput tTrackerObjectInfo[10]; //跟踪目标信息，提取叠框使用
|
|
|
TDetectObjectOutput tDetectObjectInfo[20]; //检测目标信息
|
|
|
TDllDebugInfoOutput tDllDebugInfo; //界面显示测试信息
|
|
|
TSimulateOutput tSimulateObjInfo[5]; //模拟目标信息
|
|
|
UINT16 Reserved5[288]; //目标跟踪结果
|
|
|
UINT16 Reserved6;
|
|
|
UINT16 TrackerXor;
|
|
|
UINT16 Reserved7[360]; //算法参数
|
|
|
UINT16 nObjCntPerFrame; //单帧目标检测结果
|
|
|
UINT16 Reserved8[919]; //单帧目标检测结果
|
|
|
UINT16 nObjCntInPipe; //管道目标个数
|
|
|
UINT16 Reserved9[1801]; //管道结果
|
|
|
TImgScalingPara tImgScalingPara;
|
|
|
UINT16 Reserved10[105]; //113
|
|
|
TParaLineTail tTrackResultTail; //帧尾
|
|
|
}TTrackResultInfo;
|
|
|
/***************************************/
|
|
|
typedef struct tagTargetObjectHistory
|
|
|
{
|
|
|
SINT16 pnMaxPos_X; //目标的极大值位置（小目标检测用） //BYTES: 2*2=4
|
|
|
SINT16 pnMaxPos_Y;
|
|
|
SINT16 snSizeW; //目标的极大值位置（小目标检测用） //BYTES: 2*2=4
|
|
|
SINT16 snSizeH;
|
|
|
SINT16 afAnglefAz;
|
|
|
SINT16 afAnglefPt;
|
|
|
SINT16 FrameID;
|
|
|
}TARGET_OBJECT_History;
|
|
|
|
|
|
|
|
|
typedef struct tagTargetObjectOutput
|
|
|
{
|
|
|
// 全局
|
|
|
UBYTE8 nObjTypeGray;
|
|
|
UBYTE8 Reserved0;
|
|
|
UBYTE8 ObJType;
|
|
|
UBYTE8 UBYTE8Confidence;
|
|
|
UINT16 pxObjGray;
|
|
|
SINT16 pnMaxPos_X; //目标的极大值位置（小目标检测用） //BYTES: 2*2=4
|
|
|
SINT16 pnMaxPos_Y;
|
|
|
SINT16 snSizeW; //目标的极大值位置（小目标检测用） //BYTES: 2*2=4
|
|
|
SINT16 snSizeH;
|
|
|
SINT16 pfCenPosX;
|
|
|
SINT16 pfCenPosY;
|
|
|
SINT16 afAnglefAz;
|
|
|
SINT16 afAnglefPt;
|
|
|
SINT16 fSNR;
|
|
|
float tgEntropy;
|
|
|
float bgEntropy;
|
|
|
SINT16 Reserved1;
|
|
|
SINT16 Xor;
|
|
|
}TARGET_OBJECT_OUTPUT;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//定义管道结构体
|
|
|
typedef struct tagPipeOutput //BYTES: 6*1 + 14*4 + 57*10 + 36 = 668
|
|
|
{
|
|
|
UBYTE8 bOccupy_bTarget_bInsideFOV_bLost; //标识管道是否已经被占用
|
|
|
UBYTE8 Reserved0; //标识管道是否是目标
|
|
|
UBYTE8 fConfidence; //标记管道是否属于当前视场（目标检测区域）
|
|
|
UBYTE8 bAlarm; //管道消失标记：0-不是，1-是。
|
|
|
|
|
|
|
|
|
UINT16 unExistCnt; //管道中目标在其视场内真实被检测到的次数
|
|
|
UINT16 unLostCnt; //管道已消失（目标在其视场内没有被检测到）的帧计数器
|
|
|
UINT16 ptCurrentPntX;
|
|
|
UINT16 ptCurrentPntY;
|
|
|
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UINT16 ObjectFilter_pfCenPosX;
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UINT16 ObjectFilter_pfCenPosY;
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UINT16 ObjectFilter_sfSizeW;
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UINT16 ObjectFilter_sfSizeH;
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SINT16 sfSpeed_vx;
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SINT16 sfSpeed_vy;
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SINT16 sfAglSpeed_vx;
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SINT16 sfAglSpeed_vy;
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UBYTE8 nPipeType;
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UBYTE8 ubEnd;
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TARGET_OBJECT_History objHistoryList[10];
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UINT16 Reserved1[5];
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}PIPE_Output;
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/************************************************************************************/
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//周扫告警信息参数行
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typedef struct TagIntermittentScanInfo
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{
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TParaLineHeader tIntermitScanHeader; //参数行头
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UINT16 usAddChangeTargetNum; //新增及变化目标个数
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UINT16 usNeedDeleteTargetNun; //待删除目标个数
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UINT16 usLostTargetNum; //丢失目标个数
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UINT16 usNeedDeleteTargetIndex; //待删除目标序号
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UINT16 usLostTargetIndex; //丢失目标序号
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UINT16 resv1[6400]; //告警目标信息
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UINT16 resv2[315];
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TParaLineTail TIntermitScanTail; //帧尾
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}TIntermitScanInfo;
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//光标颜色及类型
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typedef struct TagObjColorType
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{
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char color: 4;
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char type: 4;
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}TObjColorType;
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//跟踪检测框信息
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typedef struct TagTrackerDetectFrameInfo
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|
{
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TObjColorType stFrameColorType;
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UBYTE8 ucFrameShowFlag;
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|
UINT16 usFrameX;
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UINT16 usFrameY;
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UINT16 usFrameW;
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UINT16 usFrameH;
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UINT16 usSquareFrameLen; //四角框实线长度
|
|
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}TTrackerDetectFrameInfo;
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|
|
|
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|
//字符块配置信息
|
|
|
typedef struct TagCharacterInfo
|
|
|
{
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TObjColorType stCharacterColorType;
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|
|
UBYTE8 ucCharacterShowFlag;
|
|
|
UINT16 usCharacterBeginX;
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|
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UINT16 usCharacterBeginY;
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UINT16 usValidPixelX;
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|
|
UINT16 usValidPixelY;
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|
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UINT16 usCharacterContentPos;
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|
UINT16 usCharacterBlockLens;
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|
|
|
|
|
|
|
}TCharacterInfo;
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|
|
|
|
|
|
//界面叠加结果
|
|
|
typedef struct TagFrameOverlapOutput
|
|
|
{
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|
|
TParaLineHeader stFrameOverlapHeader; //字符叠加参数行帧头
|
|
|
UINT16 resv[2]; //预留
|
|
|
UINT16 usImageShowWidth; //显示图像宽度
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|
|
UINT16 usImageShowHeight; //显示图像高度
|
|
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UINT16 usScreenshotBeginX; //截图从X坐标开始
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|
|
UINT16 usScreenshotBeginY; //截图从Y坐标开始
|
|
|
UINT16 usScreenshotWidth; //截图后的宽度
|
|
|
UINT16 usScreenshotHeight; //截图后的高度
|
|
|
UINT16 usScalingWidth; //缩放图像的宽度
|
|
|
UINT16 usScalingHeight; //缩放图像的高度
|
|
|
UINT16 usScalingBeginLine; //缩放图像从哪一行开始
|
|
|
TObjColorType stCursorColorType; //光标颜色及类型
|
|
|
UBYTE8 ucCursorShowFlag; //光标显示开关
|
|
|
UINT16 usCursorX; //十字光标X坐标
|
|
|
UINT16 usCursorY; //十字光标Y坐标
|
|
|
UBYTE8 usCursorHeight; //十字光标高度
|
|
|
UBYTE8 usCursorWidth; //十字光标宽度
|
|
|
UINT16 resv1; //预留
|
|
|
TTrackerDetectFrameInfo stFrameInfo[30]; //跟踪检测框信息
|
|
|
UINT16 resv2[114]; //预留
|
|
|
TCharacterInfo stCharacterInfo[40]; //字符块信息
|
|
|
UINT16 resv3[40];
|
|
|
UINT16 usCharacterContent[12155];
|
|
|
TParaLineTail TFrameOverlapTail;
|
|
|
}TFrameOverlapOutput;
|
|
|
|
|
|
typedef struct TagTurbulenceOutput
|
|
|
{
|
|
|
UINT16 usHeaderTag[4]; //固定头
|
|
|
UINT16 usValid; //0-无效 1-有效
|
|
|
UINT16 usImageWidth; //原始图像宽
|
|
|
// UINT16 usImageHeight; //原始图像高
|
|
|
UINT16 usScreenshotBeginX; //湍流图像坐标X
|
|
|
UINT16 usScreenshotBeginY; //湍流图像坐标Y
|
|
|
UINT16 usImage[10000]; //去湍流后图像
|
|
|
UINT16 resv1[2787]; //预留
|
|
|
TParaLineTail TFrameOverlapTail;
|
|
|
}TTurbulenceOutput;
|
|
|
/**************************************************************************************/
|
|
|
|
|
|
//网络数据头信息
|
|
|
typedef struct TagTNetHeader
|
|
|
{
|
|
|
UINT16 usHeaderTag; //帧头
|
|
|
UINT16 usCmdWord; //命令字
|
|
|
UINT32 uiNetDataLen; //数据长度
|
|
|
UINT32 uiFrameNum; //帧编号
|
|
|
}TNetHeader;
|
|
|
|
|
|
typedef struct TagAIInfo
|
|
|
{
|
|
|
UBYTE8 ucTagStyle; //目标类型
|
|
|
float ucTagConfidence; //目标置信度
|
|
|
UINT16 usTagPosX; //目标X坐标
|
|
|
UINT16 usTagPosY; //目标Y坐标
|
|
|
UINT16 usTagWidth; //目标宽
|
|
|
UINT16 usTagHeight; //目标高
|
|
|
}TAIInfo;
|
|
|
|
|
|
typedef struct tagRectF //BYTES: 4*4=16
|
|
|
{
|
|
|
float x; //中心点点x坐标
|
|
|
float y; //中心点点y坐标
|
|
|
float w; //矩形宽度
|
|
|
float h; //矩形高度
|
|
|
}FRECT;
|
|
|
typedef struct ARMStatus//4byte
|
|
|
{
|
|
|
UBYTE8 ucSpeed; //传播速率 0：2M 1：4M
|
|
|
UBYTE8 ucPicChn; //画中画主视频通道 0：关闭 1：短波红外 2：红外 3：可见光
|
|
|
UBYTE8 ucPipView; //画中画子视频通道 0：无效 1：局部 2：全图
|
|
|
UBYTE8 icPicture; //拍照状态 0：空闲 1：存储中
|
|
|
}TARMStatus;
|
|
|
//ARM AI结果网络协议
|
|
|
typedef struct TagAIResultNetInfo
|
|
|
{
|
|
|
TNetHeader tAIResultNetHeader; //数据头信息12
|
|
|
UINT16 usTagNum; //AI目标个数2
|
|
|
UINT16 usTrackStatus; //状态信息2
|
|
|
/*******************16byte***********************/
|
|
|
//0号目标放跟踪结果——1-49为识别目标结果
|
|
|
TAIInfo stTagAIInfo[50]; //AI目标结果信息
|
|
|
/************************************************/
|
|
|
TARMStatus stTagArmStatus; //ARM状态4
|
|
|
//******AI跟踪高得分检测结果*******
|
|
|
UINT32 nDetectNum;
|
|
|
UINT32 nClusterNum;
|
|
|
FRECT nSimilarArray[50];
|
|
|
float ServoAz;
|
|
|
float ServoPt;
|
|
|
UBYTE8 ucXOR; //校验1
|
|
|
UBYTE8 ucAIResultTail; //帧尾1
|
|
|
/*******************6byte************************/
|
|
|
}TAIResultNetInfo;
|
|
|
|
|
|
//通过rio向FPGA传输的参数
|
|
|
typedef struct TagParaWriteBacktoFpga
|
|
|
{
|
|
|
UINT16 resv[640]; //IR参数行
|
|
|
TContrCmdInfo stContrCmdInfo; //控制命令参数行地址
|
|
|
TAIResultInfo stAIResultInfo; //AI结果参数行
|
|
|
TTrackResultInfo stTrackResultInfo; //DSP跟踪结果
|
|
|
UINT16 resv1[11*640]; //DSP周扫告警结果
|
|
|
TFrameOverlapOutput stFrameOverlapOutput; //字符叠加结果
|
|
|
TTurbulenceOutput stTurbulenceOutput;
|
|
|
}TParaWriteBackToFpga;
|
|
|
|
|
|
|
|
|
}
|
|
|
#endif // _CommDef_H_
|
