621 lines
35 KiB
C
621 lines
35 KiB
C
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#ifndef _CommDef_H_
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#define _CommDef_H_
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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;
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#endif
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#include <thread>
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#include <chrono>
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using namespace std;
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#include <QString>
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#include <QSerialPort>
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// 像素类型
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/*
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* @class Settings
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* @brief 串口参数设置
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*
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* @param name 串口名称
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* @param baudRate 波特率
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* @param stringBaudRate 波特率字符串
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*/
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struct ComSettings
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{
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QString name;
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qint32 baudRate;
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QString stringBaudRate;
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QSerialPort::DataBits dataBits;
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QString stringDataBits;
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QSerialPort::Parity parity;
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QString stringParity;
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QSerialPort::StopBits stopBits;
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QString stringStopBits;
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};
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typedef enum tagSTREAM_TYPE
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{
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ST_FILE = 1, //文件流
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ST_DEV = 2 //设备流
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} STREAM_TYPE;
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typedef struct tagGuideInfo
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{
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double m_hgj; //横滚角
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double m_fyj; //俯仰角
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double m_ds; //地速
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double m_lng; //飞机经度
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double m_lat; //飞机纬度
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double m_zhx; //真航向
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double m_dxsd; //东向速度
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double m_bxsd; //北向速度
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double m_txsd; //天向速度
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double m_qygd; //惯性气压高度
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double m_hzjsl; //横轴角速率
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double m_zzjsl; //纵轴角速率
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double m_fxzjsl; //法向轴角速率
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int m_hig1; //无线电高度1
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char m_high1Flag;//无线电高度1有效无效标示
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int m_hig2; //无线电高度2
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char m_high2Flag;//无线电高度1有效无效标示
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int m_testMode;
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} GuideInfo;
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typedef struct tagBejTime
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{
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short m_year;
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short m_month;
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short m_day;
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short m_hour;
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short m_min;
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short m_second;
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short m_mis;
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} BejTime;
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typedef struct tagSourceSel
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{
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short m_lzState;
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short m_zc;
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int m_hig1; // 左驾状态 1,无线电高度1; 2，无线电高度2; 0,其他高度
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int m_hig2; // 右驾状态 1,无线电高度1; 2，无线电高度2; 0,其他高度
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} SourceSel;
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// pcie驱动类型
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typedef enum tagPCIE_DRIVER
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{
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DR_JunGo = 0, // 旧驱动
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DR_XDMA = 1, // 新驱动
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} DRIVER_TYPE ;
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#ifndef _ConstVariant_
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#define _ConstVariant_
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const int c_nRMemSize = 16 * 1024;//16 * 1024;
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#endif
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/************************************************
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**调光算法设置信息
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************************************************/
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typedef struct tagTG
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{
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int Y8MapIdx;
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//去锅盖
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bool DeGuoGaiArith;
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bool GuoGaiModel;
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//时域滤波
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bool IsTimeFilter;
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int TFSigma;
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//竖纹
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int DestripArithIdx;
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int StripWeight;
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int StripStd;
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//去噪
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int DenoiseArith;
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int DenoiseStd;
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//增强
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int DDEArith;
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int DDEParam;
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int IDEArith;
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//bool CalcNUC = false;
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int FlagT;
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//bool CalcSNR = false;
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bool DeBadPixel;
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bool Clahe;
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unsigned short* GuogaiB;
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tagTG()
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{
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Y8MapIdx = 0;
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DeGuoGaiArith = false;
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GuoGaiModel = false;
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IsTimeFilter = false;
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TFSigma = 10;
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DestripArithIdx = 0;
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StripWeight = 3700;
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StripStd = 50;
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DenoiseArith = 0;
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DenoiseStd = 50;
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DDEArith = 0;
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DDEParam = 1;
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IDEArith = 0;
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FlagT = 0;
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DeBadPixel = false;
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Clahe = false;
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GuogaiB = NULL;
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}
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} TG;
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// 解析数据类型
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enum enumParamsParser
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{
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eParamsParser_FPGA = 1, // FPGA数据
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eParamsParser_Algorithm_NaviInfo = 2, // 算法参数：惯导信息
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eParamsParser_Algorithm_CtrlParams = 3, // 算法参数：算法控制参数
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eParamsParser_Algorithm_SensorParams = 4, // 算法参数：传感器标定参数
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eParamsParser_Algorithm_WarningInfos = 5, // 算法参数：告警信息
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eParamsParser_Algorithm_LaserWarningInfo_01 = 6, // 算法参数：激光告警信息1
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eParamsParser_Algorithm_LaserWarningInfo_02 = 7, // 算法参数：激光告警信息2
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eParamsParser_DSP = 8 // DSP数据
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};
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// 注入数据类型
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enum enumParamsEncapsulater
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{
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eParamsEncapsulater_Algorithm_NaviInfo = 1, // 算法参数：位置姿态
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eParamsEncapsulater_Algorithm_SourceSlect = 2, // 算法参数：源数据选择
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eParamsEncapsulater_Algorithm_BeiJingTime = 3, // 算法参数：北京时间
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eParamsEncapsulater_Algorithm_AirData = 4, // 算法参数：大气机数据
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eParamsEncapsulater_Algorithm_CtrlParams = 5, // 算法参数：算法控制参数
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eParamsEncapsulater_Algorithm_SensorParams = 6, // 算法参数：传感器标定参数
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};
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/*
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* 参数解析相关结构体定义
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*/
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//1.2惯导参数结构体，包括时间日期信息 90字节
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#pragma pack(push,1)
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typedef struct tagDateTime
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{
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unsigned char ucYear; // 年
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unsigned char ucMonth; // 月
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unsigned char ucDay; // 日
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unsigned char ucHour; // 时
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unsigned char ucMinute; // 分
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unsigned char ucSecond; // 秒
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} DATE_TIME;
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#pragma pack(pop)
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#pragma pack(push,1)
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typedef struct tagNavigateGesturePara
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{
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//10+4+60+16=90;96
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double dLatitude; //纬度，单位°
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double dLogitude; //经度，单位°
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float fAltitudeHeight; //（绝对气压高度）海高，单位m
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float fRelativeHeight; //相对气压高度，单位m
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float fInerAtmoHeight; //惯性气压高度，单位m
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float fRadioHeight1; //无线电高度1，单位ft
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float fRadioHeight2; //无线电高度2，单位ft
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float fPitchingAngle; //俯仰角，单位°
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float fCircumrotateAngle; //横滚角，单位°
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float fDeflexionAngle; //真航向角，单位°
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float fSpeed; //地速，单位km/h
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float fNorthDirecSpeed; //北向速度，单位km/h
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float fWestDirecSpeed; //东向速度，单位km/h
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float fVertialDirecSpeed; //天向速度，单位m/s
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float fCircumrotateAngleVelocity; //横滚角速率(机体系纵轴速率)，单位°/s
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float fPitchingAngleVelocity; //俯仰角速率(机体系横纵速率)，单位°/s
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float fDeflexionAngleVelocity; //真航向角速率(机体系法向轴速率)，单位°/s
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char cTestModeFlag; //工作模式
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char cSundercarriage; //起落架信号 2地面 1空中 其他无效
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char cMasterOrSlave; //主从模式
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char cRadioHeightFlag; //无线电高度有效标识
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unsigned char ucYear;
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unsigned char ucMonth;
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unsigned char ucDate;
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unsigned char ucHour;
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unsigned char ucMinute;
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unsigned char ucSecond;
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unsigned int uiInsFrmCnt; //惯导帧计数
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} NAVIGATE_GESTURE_PARA;
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#pragma pack(pop)
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//1.3定义算法控制参数结构体
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#pragma pack(push,1)
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typedef struct tagArithCtrlPara
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{
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//319;344
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//阈值设置1 8
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short sDisInMidNum; //中间消失的帧数
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short sYMinPixelNum; //目标Y轴运动的大小
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short sContinuePreTargetNum; //连续最大预测目标个数
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short sDisPearAlarmFrmNum; //消失告警的帧数
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//阈值设置2 6
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short bNucArithSwitch; //自适应本底校正开关
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short sExistFrmThres; //判据的目标最长存在的帧数阈值
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short sSudIntensityChgT; //两帧之间灰度变化大于300认为有灰度的忽然变化
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//阈值设置3 10
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short sJudgeMovFrmThres; //判断目标运动的最小帧数= 11
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short sPipeTargetAlarmLen; //进行决策的最少帧数，0.1秒的反应时间对应的帧数= 35；复用能量明显变化下限阈值35
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short sSpeedForConcentrative; //m/S,速度阈值，大于等于该阈值进入作战模式
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short sSpeedForTest; //m/s,速度阈值，小于该阈值进入地面测试模式
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short sSNRChangeT; //管道中每隔2帧信噪比变化大于15认为有变化
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//阈值设置4 8
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short sGDK1; //高度区间端点4 的g_fGDK值
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short sGDK2; //高度区间端点3 的g_fGDK值
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short sGDK3; //高度区间端点2 的g_fGDK值
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short sGDK4; //高度区间端点1 的g_fGDK值
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//阈值设置5 8
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short sChangeGDKHigh1; //高度区间端点
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short sChangeGDKHigh2; //自适应gdk高度下限
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short sChangeGDKHigh3; //高度告警范围下限
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short sChangeGDKHigh4; //高度告警范围上限
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//阈值设置6 4
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short sTestGDK; //地面测试模式下和空闲模式的g_fGDK值
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short sHighSkyGDK; //高度大于5000时的g_fGDK取值
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//阈值设置7 12
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unsigned int uiNUCStep; //自适应本底校正学习步长
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unsigned int uiNUCStudyAngle; //进行自适应本底学习的航姿变化角度阈值
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unsigned int uiNUCHigh; //采集本底的高度阈值
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//阈值设置8 14
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float fDefAngleChgThresh; //影响坐标变化的航向角变化量
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float fPitAngleChgThresh; //影响坐标变化的俯仰角变化量
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float fCirAngleChgThresh; //影响坐标变化的横滚角变化量
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short sGndDispAbsPixel; //地面状态下判断运动应当移动的像素个数
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//阈值设置9 16
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short sMoveDevThres; //运动判断时的帧间参考块方差之差的阈值//不使用= 500
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short sMoveAverThres; //运动判断时的帧间参考块均值之差的阈值//不使用= 30
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float fAverWeight; //判断邻域中心点最大变化量大于总次数的百分比//不使用= (float)0.5
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float fDevWeight; //判断邻域方差最大变化量大于总次数的百分比//不使用= (float)0.3
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float fResearchWeightforGDK; //二次搜索的权重= (float)0.6
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//阈值设置10 14
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short sJudgeIntensityFrmThres; //判断目标强度变化的最小帧数= 11
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short sMarginsNum; //边缘像素个数 g_sMarginsNum= 3
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int lBgkDevSmooth; //背景方差对大值小于该阈值认为平坦g_lBgkDevSmooth//不使用= 5000
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short sTargetMaxPixel; //目标最大面积数g_sTargetMaxPixel= 15
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float fRectRatio; //矩形度阈值g_fRectRatio= 3.5
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//阈值设置11 10
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short sContinuePreTargetNumGnd; //地面测试模式下的最大连续预测帧数= 15
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short sYMinPixelNumGnd; //地面测试模式下判断目标沿垂直方向运动的像素个数阈值= 3
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unsigned short usDelayChangeNum; //地面测试模式下的判断静止不动点的考察帧数= 50;//150
|
|||
|
|
unsigned short usIsBpContinueNoMoveFrm; //判断坏点时连续没运动的帧数阈值= 100
|
|||
|
|
unsigned short usClrPipeContinueReSearchFrm; //连续二次搜索清零的帧数阈值= 40
|
|||
|
|
|
|||
|
|
//阈值设置12 10
|
|||
|
|
unsigned short usIsSameTargetThreshold; //在拼接重叠区域判断是否为同一目标的距离阈值= 2//4
|
|||
|
|
unsigned short usSearchRadius; //搜索半径//不使用= 7//5
|
|||
|
|
short sGndMaxDispAbsPixel; //地面状态下判断运动应当移动的最大像素个数//不使用= 1
|
|||
|
|
unsigned short usGndLabelSize; //地面状态下小目标周围标记区域大小= 5
|
|||
|
|
unsigned short usFightLabelSize; //作战状态下小目标周围标记区域大小= 9
|
|||
|
|
|
|||
|
|
//阈值设置13 16
|
|||
|
|
float fJugMovMinDispAbs; //判断运动的最小绝对位移 = 1
|
|||
|
|
float fJugMovMinDispAbsJs; //判断运动的最小经过惯导解算后的绝对位移 = 2.5//3.38//3;
|
|||
|
|
short sContinueMoveFrmThr; //判断运动的连续运动帧数阈值 = 4//3;
|
|||
|
|
short sPipePreMinTotFrm; //进行管道预测的管道最小总帧数//不使用 = 10//5
|
|||
|
|
short sPipePreMinUnpreFrm; //进行管道预测的管道最小非预测帧数//不使用 = 4//5//2
|
|||
|
|
short sPipePreMinUnpreDis; //进行管道预测的管道最小非预测帧间隔//不使用 = 3
|
|||
|
|
|
|||
|
|
//阈值设置14 14
|
|||
|
|
short sPipePreMaxUnpreDis; //进行管道预测的管道最大非预测帧间隔//不使用 = 12//15//10
|
|||
|
|
short sPipePreMaxContiuPreFrm; //进行管道位置预测时的最大连续预测帧数//不使用 = 2
|
|||
|
|
short sEdgeContinuePreFrm; //边缘越测帧数 = 3
|
|||
|
|
short sContinueUnFstFindNum; //连续非一次检测到目标的帧数阈值//不使用 = 40
|
|||
|
|
short sMaxNgErrFrm; //惯导连续异常帧数阈值 = 10
|
|||
|
|
float fHypoGDKWeight; //次大值gdk权重= 5/10.0
|
|||
|
|
|
|||
|
|
//阈值设置15 18
|
|||
|
|
short sContinueUnFstFindNumGnd; //地面模式下连续非一次检测到目标的帧数阈值//不使用 = 15
|
|||
|
|
float fPitAngVelocityThresh; //俯仰角速率阈值 = 3.0
|
|||
|
|
float fCirAngVelocityThresh; //横滚角速率阈值 = 3.0
|
|||
|
|
float fDefAngVelocityThresh; //真航向角速率阈值 = 3.0
|
|||
|
|
unsigned short usContinueUnStableFlyFrmThresh; //判断飞机是否大机动飞行的帧数阈值 = 3
|
|||
|
|
unsigned short usJudgePipeJumpThres; //判断管道是否跳变的位移量阈值 = 3
|
|||
|
|
|
|||
|
|
//阈值设置16 10
|
|||
|
|
float fSpeedMin; //速度最小值 = 100/100
|
|||
|
|
short sHistTotalNumMin; //进入判断的历史帧数最小值 = 20
|
|||
|
|
short sHistPreNum; //进入判断的历史预测帧数最大值 = 10
|
|||
|
|
short sHistTotalNumMax; //超过时间不进行判断//不使用 = 200
|
|||
|
|
|
|||
|
|
//阈值设置17 11
|
|||
|
|
short sMinDisp; //目标解算前解算后的位移阈值 = 20
|
|||
|
|
float fSpeedChg; //前后半段平均速度变化阈值 = 6/10
|
|||
|
|
float fSizeChg; //前后半段平均大小变化阈值 = 10/10
|
|||
|
|
char cUseGndApproach; //是否使用地面逼近状态0或1//不使用 = 0
|
|||
|
|
|
|||
|
|
//阈值设置18 14
|
|||
|
|
float fSASNRThes; //突然出现信噪比阈值 = 80/10
|
|||
|
|
unsigned char ucGndPitchChgThes; //地面测试模式1下判断垂直方向运动量的俯仰角变化阈值（单位为度） = 3
|
|||
|
|
unsigned char ucGndDisMoreTimesThes; //地面测试模式下绝对位移量变大的次数阈值 = 5
|
|||
|
|
short sContinueBpFrm; //判断坏点时的连续符合条件帧数阈值 = 100
|
|||
|
|
short sCleanAdvPipeFrm; //清空大管道的帧数阈值 = 250
|
|||
|
|
char cSetTestModeSta; //设置作战模式状态，2（地面观测KKDD），3（逼近环境试验模拟目标），4（地面观测HJD），其他表示地面作战模式1，默认为1
|
|||
|
|
char cSetConcentrativeModeSta;
|
|||
|
|
char cAlarmFlag;
|
|||
|
|
char cNgDelayFrm; //惯导延迟帧数 = 10
|
|||
|
|
|
|||
|
|
//阈值设置19 12
|
|||
|
|
short sBlockMeanFastChgNumThres; //块均值快速变化的分块个数阈值 = 60
|
|||
|
|
short sBlockMeanChgThres; //判断分块均值变化很大的阈值 = 1000
|
|||
|
|
short sBlockMeanHugeThres; //判断分块灰度值很大的阈值 = 2500
|
|||
|
|
short sJudgeDecoyIntensityThres; //判断干扰弹管道的灰度阈值 = 1000
|
|||
|
|
short sNewSubPipeNumThres; //判断干扰弹需要的最近新出现的管道个数阈值 = 5
|
|||
|
|
short sLocalNewSubPipeNumThres; //判断干扰弹需要的局部小范围最近新出现的管道个数阈值 = 5
|
|||
|
|
|
|||
|
|
//阈值设置20 12
|
|||
|
|
char cJudgeDecoyWideAngleThres; //较宽范围统计新出现的集中管道的俯仰、方位角度阈值 = 30
|
|||
|
|
char cJudgeDecoyNarrowAngleThres; //较小范围统计新出现的集中管道的俯仰、方位角度阈值 = 20
|
|||
|
|
short sContinuJudgeFrmThres; //连续判断为干扰弹的帧数阈值 = 3
|
|||
|
|
short sContinuDisJudgeFrmThres; //退出判断为干扰弹的帧数阈值 = 500
|
|||
|
|
short sConfirmFlareFrmThres; //判断是否为太阳耀斑的连续帧数阈值 = 3
|
|||
|
|
float fFlareDisThres; //耀斑距离太阳-图像中心连线距离阈值设定为4个像素 = 40/10
|
|||
|
|
|
|||
|
|
//阈值设置21 12
|
|||
|
|
char cKkddThreatPitchThresUp; //空空导弹威胁区域俯仰角上边界(单位度) = 25
|
|||
|
|
char cKkddThreatPitchThresDown; //空空导弹威胁区域俯仰角下边界(单位度) = -25
|
|||
|
|
char cKkddLowThreatAzimuthRangeThres; //空空导弹方位低威胁区域范围(单位度) = 30
|
|||
|
|
char cGrndKkddThreatPitchThres; //地面观测空空导弹威胁区域俯仰角边界(单位度) = 15
|
|||
|
|
char cGrndKkddLowThreatPitchThresUp; //地面观测空空导弹低威胁区域俯仰角上边界(单位度) = 15
|
|||
|
|
char cGrndKkddLowThreatPitchThresDown; //地面观测空空导弹低威胁区域俯仰角下边界(单位度) = 5
|
|||
|
|
unsigned char ucNearHorizonAxisYThres; //判断是否属于天地线附近的三维y方向距离阈值(单位像素) = 50
|
|||
|
|
char cAlarmFlagFireKKDD; //KKDD决策开关 = 1
|
|||
|
|
char cAlarmFlagFireDKDD; //DKDD决策开关 = 0
|
|||
|
|
char cAlarmFlagFireHJD; //HJD决策开关 = 0
|
|||
|
|
unsigned char ucBgCleanStdThres; //判断背景是否干净的标准差阈值 = 20
|
|||
|
|
unsigned char ucPointTgtSizeThres; //工作状态21下判断是否为点目标的大小阈值 = 4
|
|||
|
|
|
|||
|
|
//阈值设置22 14
|
|||
|
|
unsigned char ucPosFluctCntThres; //统计位置波动的次数阈值 = 6
|
|||
|
|
unsigned char ucPosFluctFrmThres; //统计位置波动的帧数阈值 = 100
|
|||
|
|
unsigned char ucSizeFluctCntThres; //统计尺寸波动的次数阈值 = 5
|
|||
|
|
unsigned char ucSizeFluctFrmThres; //统计尺寸波动的帧数阈值 = 100
|
|||
|
|
unsigned short usAddOilEmDelayTime; //判断是否开加力的帧数，默认150帧，3s钟判断//V2.08暂时关闭加力判断，改为30000
|
|||
|
|
unsigned char ucStdMutiple; //判断是否开加力时计算灰度与信噪比突变阈值的标准差倍数阈值，默认4倍的标准差
|
|||
|
|
unsigned char ucSlopeThres; //判断能量快速增加的斜率阈值 = 100
|
|||
|
|
short sDiffMaxMin; //判断能量快速增加的灰度范围阈值 = 800
|
|||
|
|
float fPPGuideThres; //疑似比例导引阈值 = 25/10
|
|||
|
|
|
|||
|
|
//阈值设置23 14
|
|||
|
|
short sJudgeReflectObjFrmStep; //判断是否为太阳反光造成的管道目标的统计步长 = 5
|
|||
|
|
float fReflectStdThres; //反光目标灰度波动标准差阈值 = 600/10
|
|||
|
|
short sContinueSaturateFrmThres; //连续饱和帧数阈值，超过视为反光目标 = 3
|
|||
|
|
short sReflectRadius; //与理论计算反光点相差3个像素以内的点确定为反光 = 3
|
|||
|
|
short sReflectIntensityRiseThres; //同一目标灰度上升阈值 = 3000.0
|
|||
|
|
short sReflectObjMinusBkThres; //同一目标同一帧内目标与背景灰度差阈值 = 7000.0
|
|||
|
|
|
|||
|
|
//阈值设置24 16
|
|||
|
|
float fTgtTooFastSpeedSquareThres; //判断目标运动太快的速度平方阈值 = 36/100
|
|||
|
|
float fHjdMaxDispAbsThres; //判断火箭弹的最大位移阈值 = 35/10
|
|||
|
|
short sHjdExistFrmThres; //判断火箭弹时的存在帧数阈值 = 75
|
|||
|
|
unsigned char ucDkdDistanceThres; //地空导弹告警距离阈值（km） = 21
|
|||
|
|
unsigned char ucHy6DistanceThres; //Hy6告警距离阈值（km） = 6
|
|||
|
|
unsigned char ucHy6HighThres; //Hy6告警高度阈值（km） = 8
|
|||
|
|
unsigned char ucMoveXYDiffThres; //地面看空空弹时判断Y方向为主要运动方向的阈值 = 1
|
|||
|
|
unsigned char ucAzimuthChgLittleThres; //地面看空空弹时判断方位角变化很小的像素阈值 = 3
|
|||
|
|
char cPitchChgBiggerThres; //地面看空空弹时判断俯仰角变大的像素阈值 = 1
|
|||
|
|
|
|||
|
|
//阈值设置25 15
|
|||
|
|
char cAlarmFlagGrndDD; //GrndDD决策开关 = 1
|
|||
|
|
char cAlarmFlagApproach; //Approach决策开关 = 0
|
|||
|
|
unsigned short usBeginAlarmSecond; //最早开始ALarm的时间（s），包括制冷时间 = 1
|
|||
|
|
unsigned short usBeginAlarmSecondFire; //21模式下最早开始ALarm的时间（s），包括制冷时间 = 1
|
|||
|
|
unsigned short usBeginAlarmSecondGrndDD; //22模式下最早开始ALarm的时间（s），包括制冷时间 = 1200
|
|||
|
|
unsigned char ucGrndKkddThreatXRangeThres; //地面观测空空导弹方位威胁区域范围(单幅图像x方向上的像素个数) = 64
|
|||
|
|
char cKkdPtHighThreatPitchRange; //22模式下高威胁区俯仰方向上范围（距离俯仰的中心位置的角度） = 5
|
|||
|
|
unsigned char ucPipeBkgStdHighThres; //判断管道背景是否太大的阈值 = 25
|
|||
|
|
float fDiffMulti; //判断能量快速增加的与初始目标背景灰度差的倍数 = 25/10
|
|||
|
|
|
|||
|
|
//阈值设置26 13
|
|||
|
|
unsigned short usKkddDecisFlag; //KKDD决策开关
|
|||
|
|
unsigned short usKkddPartLimitFlag; //KKDD限制开关
|
|||
|
|
short sEarly3GrayDiffMaxThres; //管道前三帧目标灰度差最大值阈值 = 3500
|
|||
|
|
short sEarly3GrayDiffMinThres; //管道前三帧目标灰度差最小值阈值 = 2000
|
|||
|
|
unsigned char ucAlarmFrmMinThres; //告警响应帧数下限 = 45
|
|||
|
|
char cJudgeDecoySwitch; //干扰弹判断开关 = 1
|
|||
|
|
unsigned short ucG26TestThres2; //备用 外场模式设置高威胁区域（分块）816 分块上边界 816%100 = 8 ；分块下边界 616/100 = 16 20200730 lxm
|
|||
|
|
char cPeakEngryFrmThres; //峰值能量判断帧数阈值 = 11
|
|||
|
|
|
|||
|
|
//阈值设置27 14
|
|||
|
|
unsigned short usSkyLineDetectUp; //天地线检测上边界
|
|||
|
|
unsigned short usSkyLineDetectThres; //天地线检测阈值
|
|||
|
|
short sPipeAlarmMinFrm; //地面观测火箭弹输出告警的最少帧数
|
|||
|
|
float sBlockThreMultiple; //分块设置小目标检测阈值 25/10
|
|||
|
|
unsigned char ucModeSwitchFlag; //地面观测HJD模式和实验室模式手动切换标志，1:24模式 0：实验室模式
|
|||
|
|
unsigned char ucOpenSkyLineDetcFlag; //是否开启天地线检测矫正
|
|||
|
|
char cBackGroundFliterFlag; //是否进行滤波背景抑制的标识位
|
|||
|
|
char cGrndHJDMaxMoveDispThres; //地面观测火箭弹最大位移量 15
|
|||
|
|
|
|||
|
|
} ARITH_CTRL_PARA;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
//定义传感器参数结构体(几路传感器对应几组！！！！)
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagSensorCalibrtPara
|
|||
|
|
{
|
|||
|
|
//20;40
|
|||
|
|
float fAngFY; //安装俯仰角，弧度制
|
|||
|
|
float fAngPZ; //安装偏转角，弧度制
|
|||
|
|
float fAngXZ; //安装旋转角，弧度制
|
|||
|
|
float fFisheyePara; //鱼眼映射参数
|
|||
|
|
short sCamCenOfsetX; //成像中心水平偏移像素
|
|||
|
|
short sCamCenOfsetY; //成像中心垂直偏移像素
|
|||
|
|
} SENSOR_CALIBRT_PARA;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
//1.4定义输出告警目标个数结构体
|
|||
|
|
#define CAMERALINK_NUM 2 //传感器数量
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagTargeTPipeAlarmNum
|
|||
|
|
{
|
|||
|
|
//26;26
|
|||
|
|
unsigned short usTotalNumInSingleFrame; //四幅图像单帧目标总个数
|
|||
|
|
unsigned short usTargetNumInSingleFrame[CAMERALINK_NUM]; //单路图像单帧目标个数
|
|||
|
|
unsigned short usOccupyPipeNum; //大管道占用总数
|
|||
|
|
unsigned short usOccupySubPipeNum; //小管道占用总数
|
|||
|
|
unsigned short usTotalAlarmNum; //当前帧告警目标总个数
|
|||
|
|
unsigned short usAlarmSum; //告警目标个数
|
|||
|
|
unsigned short usAlarmCount; //告警次数统计
|
|||
|
|
unsigned short usOutputAlarmSum; //当前帧上报告警目标总个数
|
|||
|
|
unsigned short usMissleCounter; //导弹目标索引的计数
|
|||
|
|
unsigned short usAlarmSynFrmCnt; //上报同步标记
|
|||
|
|
unsigned short usContiueNoAlarmOutput; //连续没有上报告警次数
|
|||
|
|
short sAlarmType; //告警目标类型
|
|||
|
|
} TARGET_PIPE_ALARM_NUM_PARA;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
//1.6定义解析DSP版本信息结构体
|
|||
|
|
#define MAX_ALARM_NUM 32 // 最大告警目标数
|
|||
|
|
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagPoint2S
|
|||
|
|
{
|
|||
|
|
short x; // 二维图像x坐标
|
|||
|
|
short y; // 二维图像y坐标
|
|||
|
|
} POINT_2S;
|
|||
|
|
|
|||
|
|
typedef struct tagAlarmFrame
|
|||
|
|
{
|
|||
|
|
unsigned int uiAlarmNum; // 告警目标数
|
|||
|
|
POINT_2S stPos[MAX_ALARM_NUM]; // 告警目标坐标数组
|
|||
|
|
unsigned char ucReserved[18]; // 预留
|
|||
|
|
} ALARM_FRAME;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagArithDSPVersionPara
|
|||
|
|
{
|
|||
|
|
//12+48+32=92;94
|
|||
|
|
unsigned int uiParaHeader; //参数头：0x5566CCDD
|
|||
|
|
unsigned int uiFpgaFrameIdx; //FPGA帧编号
|
|||
|
|
unsigned int uiDspFrameIdx[8]; //DSP帧编号
|
|||
|
|
float fDspRunTime[8]; //DSP运行时间
|
|||
|
|
unsigned short usDspVersionHigh; //DSP版本号高位
|
|||
|
|
unsigned short usDspVersionLow; //DSP版本号低位
|
|||
|
|
unsigned int uiDspVersionDataYear; //DSP版本日期-年
|
|||
|
|
unsigned short usDspVersionDataMonth; //DSP版本日期-月
|
|||
|
|
unsigned short usDspVersionDataDay; //DSP版本日期-日
|
|||
|
|
unsigned int uiDspInsideVersionDataYear; //DSP内部版本日期-年
|
|||
|
|
unsigned short usDspInsideVersionDataMonth; //DSP内部版本日期-月
|
|||
|
|
unsigned short usDspInsideVersionDataDay; //DSP内部版本日期-日
|
|||
|
|
unsigned char ucCheck[4]; //校验
|
|||
|
|
unsigned char ucReserved[104];
|
|||
|
|
ALARM_FRAME stAlarm_Frame0;
|
|||
|
|
ALARM_FRAME stAlarm_Frame1;
|
|||
|
|
// unsigned char dataReserve[2460];
|
|||
|
|
|
|||
|
|
|
|||
|
|
// unsigned char uiParaHeader[8]; //参数头
|
|||
|
|
// unsigned int usDSPFrameNum; //DSP帧编号
|
|||
|
|
// unsigned int usDSPVersion; //DSP版本
|
|||
|
|
// unsigned short ucVersionYear; //DSP版本日期
|
|||
|
|
// unsigned short ucVersionMonth;
|
|||
|
|
// unsigned short ucVersionDay;
|
|||
|
|
// unsigned short ucDSPMinorVersion; //DSP小版本号
|
|||
|
|
// unsigned short dataReserve[80];
|
|||
|
|
} ARITH_DSP_VERSION_PARA;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagArithFPGAVersionPara
|
|||
|
|
{
|
|||
|
|
//8+14+8+370=400;400
|
|||
|
|
unsigned char uiParaHeader[8]; //参数头
|
|||
|
|
unsigned short ucImageBoardTemp; //图像处理板温度
|
|||
|
|
unsigned short ucImageBoardBuffFlag; //图像处理板缓存标志
|
|||
|
|
unsigned int usFPGAFrameNum; //FPGA帧编号
|
|||
|
|
unsigned int usFPGAVersion; //FPGA版本
|
|||
|
|
unsigned short ucVersionYear; //FPGA版本日期
|
|||
|
|
unsigned short ucVersionMonth;
|
|||
|
|
unsigned short ucVersionDay;
|
|||
|
|
unsigned short ucImageBoardCheckFlag; //图像处理板自检状态
|
|||
|
|
unsigned short ucFPGAMinorVersion; //FPGA小版本号
|
|||
|
|
unsigned int nLogicFrameNum;
|
|||
|
|
unsigned short nSwitch;
|
|||
|
|
unsigned short dataReserve[182];
|
|||
|
|
} ARITH_FPGA_VERSION_PARA;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
#define DEVICE_NUM 5
|
|||
|
|
#pragma pack(push,1)
|
|||
|
|
typedef struct tagLaserPos
|
|||
|
|
{
|
|||
|
|
unsigned char ucAziAngle[2]; //方位角
|
|||
|
|
unsigned char ucPitAngle[2];
|
|||
|
|
} LaserPos;
|
|||
|
|
typedef struct tagLaserAlarmInfo
|
|||
|
|
{
|
|||
|
|
//136
|
|||
|
|
unsigned int uiParaHeader; //参数头 4
|
|||
|
|
unsigned char ucPIN; //PIN 1
|
|||
|
|
unsigned char ucTotalCount[2]; //总上报次数 2
|
|||
|
|
unsigned char ucTargetNum; //目标个数 1
|
|||
|
|
LaserPos varLaserPos[DEVICE_NUM]; //方位角 20
|
|||
|
|
unsigned char dataReserve1[20]; // 20
|
|||
|
|
unsigned char ucLaserFreq; //激光束频率 1 49
|
|||
|
|
unsigned char ucLaserTotalCnt[2]; //测距或照射总上报次数 2
|
|||
|
|
unsigned char ucDeviceNum; //检测目标的组件号 1
|
|||
|
|
unsigned char ucLaserPulseNum[4]; //测距激光脉冲号 4
|
|||
|
|
unsigned char ucLaserCycle[3]; //测距或照射的周期 3
|
|||
|
|
unsigned char ucLaserType; //激光类型 1 60
|
|||
|
|
unsigned char dataReserve2[8]; // 8
|
|||
|
|
unsigned int uiCheckData; //自检数据 4
|
|||
|
|
unsigned char ucCheckData1[4]; //自检数据1 4
|
|||
|
|
unsigned char dataReserve3[12]; // 12
|
|||
|
|
unsigned char ucFPGASoftVersion[4]; //FPGA软件版本号 4 89
|
|||
|
|
unsigned char dataReserve4[16]; // 16
|
|||
|
|
unsigned char ucSerialDataFrameNum[4]; //串口数据帧编号 * 4 109
|
|||
|
|
unsigned char uiDSPVersion[4]; //DSP软件版本号 4
|
|||
|
|
unsigned char dataReserve5[12]; // 12
|
|||
|
|
unsigned char ucContData[3]; //固定值 3 129
|
|||
|
|
unsigned char ucChecked; //校验和5~128的和 1 132
|
|||
|
|
unsigned char ucFrameEnd[4]; //帧尾 4
|
|||
|
|
} LASER_ALARM_INFO;
|
|||
|
|
#pragma pack(pop)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
typedef unsigned int uint32;
|
|||
|
|
typedef unsigned short uint16;
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
#endif // _CommDef_H_
|