智能跟踪使用教程

智能跟踪使用教程

1.概述

​ 固定翼无人机的智能跟踪，是指借助融合无人机的视觉技术、深度学习技术、传感器技术以及实时控制技术，达成对动态或静态目标的自动检测、识别与持续追踪。

2. 智能跟踪

2.1 开启智能跟踪

• 获取需要开启跟踪的镜头

  //指定无人机设备
  val droneDevice = DeviceManager.getDeviceManager().getFirstDroneDevice() ?: return
  
  //使用广角镜头进行识别跟踪
  val specLensId = droneDevice.getCameraAbilitySetManger().getLenId(LensTypeEnum.WideAngle, droneDevice.getGimbalDeviceType())

• 配置跟踪参数

  val bean = ExtendAIDetectConfigBean().apply {
      //当前的场景类型：建议使用通用场景：SCENE_TYPE_UNIVERSAL
      sceneType = AiDetectSceneTypeEnum.SCENE_TYPE_UNIVERSAL,
      
      //可指定AI识别内容：参考DetectTargetEnum取值, 默认为空，会根据指定场景识别
      targetTypeList = null,
      
      //指定镜头：镜头不同，能力也存在差异
      lensId= specLensId,
      
      //指定开启的AI功能：参考FuncEnum
      dfAIFunc = FuncEnum.AI_DETECT
  }
  
  enum class FuncEnum(val value: Int) { // AI 功能枚举
      // AI识别
      AI_DETECT(40),
  
      //目标锁定
      OBJECT_TRACKING(41),
  
      //AI识别+目标锁定
      AI_DETECT_OBJECT_TRACKING(42),
  }

• 开启跟踪指令

  val keyManager = deviceDrone?.getKeyManager()
  val createKey = KeyTools.createKey(AITrackingKey.KeyExtendIntelligentLockEnter)
  
  keyManager?.performAction(createKey, bean, object : CommonCallbacks.CompletionCallbackWithParam<Void> {
      override fun onSuccess(t: Void?) {
          Log.d(TAG, "[KeyExtendIntelligentLockEnter][onSuccess]")
      }
  
      override fun onFailure(error: IAutelCode, msg: String?) {
          Log.e(TAG, "[KeyExtendIntelligentLockEnter][onFailure][error]$error")
      }
  })

2.2 获取识别结果

• 监听识别结果上报

val droneDevice = DeviceManager.getDeviceManager().getFirstDroneDevice() ?: return
val key = KeyTools.createKey(AIServiceKey.KeyAiDetectTarget)
val keyManager = droneDevice.getKeyManager()

//新建AI识别监听器
private val trackListener = object : CommonCallbacks.KeyListener<DetectTrackNotifyBean> {
    override fun onValueChange(oldValue: DetectTrackNotifyBean?, newValue: DetectTrackNotifyBean) {
         newValue.infoList.forEach {
            val type = DetectTargetEnum.getEnglishName(DetectTargetEnum.findEnum(it.type))
            Log.i(TAG, "Type:$type, $it")
         }
    }
 }

//开始监听识别上报
keyManager.listen(key, trackListener)

• 识别结果解析：

  参考DetectTrackNotifyBean、DetectTargetEnum

data class DetectTrackNotifyBean(
    //时间戳
    var timestamp: Long = 0,

    //frameId
    var frameId: Int = 0,
 
    //分辨率宽度
    var resolutionWidth: Int = 0,
   
    //分辨率高度
    var resolutionHeight: Int = 0,
 
    //数量
    var objNum: Int = 0,
   
    //目标框数组
    var infoList: List<DetectObjectBean> = emptyList(),
    
    //图片唯一ID(本次开机唯一)，如果本次没有保存图片就置为0
    var imageId: Int = 0,
    
    //图片路径，如果本次没有保存图片就置为空字符串
    var imageUrl: String = "",

    //镜头id
    var lensId: Int = 0,
)

• 目标框数组信息:

  根据结果中的分辨率和目标位置信息，可以确定识别的目标在视频画面中的位置

data class DetectObjectBean(
    //目标的像素坐标x
    var startX: Float = 0f,
    
    //目标的像素坐标y
    var startY: Float = 0f,
    
    //目标框宽度
    var width: Float = 0f,
    
    //目标框的高度
    var height: Float = 0f,
   
    //目标的类型
    var type: Int = 0,
    
    //目标跟踪类型
    var status: Int = 0,
    
    //目标ID
    var objectId: Int = 0,
)

2.3 目标锁定

• 用户可以根据识别的结果来锁定跟踪目标，或者框选某一范围内的目标进行跟踪

val droneDevice = DeviceManager.getDeviceManager().getFirstDroneDevice() ?: return
val key = KeyTools.createKey(AITrackingKey.KeyIntelligentLockStart)
val keyManager = droneDevice.getKeyManager()

//锁定参数设置
val obj = result.infoList.firstOrNull() ?: return
val bean = TrackTargetRectBean(
    obj.startX, obj.startY, obj.startX + obj.width, 
    obj.startY + obj.height, result.lensId, 
    AiDetectSceneTypeEnum.SCENE_TYPE_UNIVERSAL, obj.objectId
)

//开始锁定目标
keyManager.performAction(key, bean, object : CommonCallbacks.CompletionCallbackWithParam<Void> {
    override fun onSuccess(t: Void?) {
        Log.d(TAG, "[KeyIntelligentLockStart][onSuccess]")
    }

    override fun onFailure(error: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyIntelligentLockStart][onFailure][error]$error")
    }
})

• 锁定参数说明

data class TrackTargetRectBean(
    //起始点x坐标
    val startX: Float = 0F,
    
    //起始点y坐标
    val startY: Float = 0F,
    
    //宽度
    val width: Float = 0F,
    
    //高度
    val height: Float = 0F,

    //当前的镜头id
    var lensId: Int? = null,

    //使用场景，默认为：SCENE_TYPE_UNIVERSAL
    var sceneType: AiDetectSceneTypeEnum,

    //目标ID
    var objectId: Int? = 0
)

2.4 解除锁定目标

解除锁定目标，只需要把跟踪框的宽高设置为零即可

val droneDevice = DeviceManager.getDeviceManager().getFirstDroneDevice() ?: return
val key = KeyTools.createKey(AITrackingKey.KeyIntelligentLockStart)
val keyManager = droneDevice.getKeyManager()

val bean = TrackTargetRectBean(0.5f, 0.5f, 0f, 0f, 0)

keyManager.performAction(key, bean, object : CommonCallbacks.CompletionCallbackWithParam<Void> {
    override fun onSuccess(t: Void?) {
        Log.d(TAG, "[KeyIntelligentLockStart][onSuccess]")
    }

    override fun onFailure(error: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyIntelligentLockStart][onFailure][error]$error")
    }
})

2.5 停止跟踪

val droneDevice = DeviceManager.getDeviceManager().getFirstDroneDevice()?: return
val key = KeyTools.createKey(AITrackingKey.KeyExtendIntelligentLockExit)
val keyManager = droneDevice.getKeyManager()

val bean = ExtendAIExitBean().apply {
    //指定要停止的AI功能
    dfAIFunc = FuncEnum.AI_DETECT
    //指定镜头ID
    lensId = specLensId
}


keyManager.performAction(key, func, object : CommonCallbacks.CompletionCallbackWithParam<Void> {
    override fun onSuccess(t: Void?) {
        Log.d(TAG, "[KeyExtendIntelligentLockExit][onSuccess]")
    }

    override fun onFailure(error: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyExtendIntelligentLockExit][onFailure][error]$error")
    }
})

3. 参数设置

3.1 跟踪模式

注意：跟踪模式需要飞机起飞后才能设置

val key = KeyTools.createKey(DFCommonCmdKey.KeyAircraftTracking)
val bean = DFAircraftTrackingBean(true, DFTrackingTypeEnum.STANDARD)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
keyManager?.performAction(key, bean, object: CommonCallbacks.CompletionCallbackWithParam<Void> {
    override fun onSuccess(t: Void?) {
        Log.d(TAG, "[KeyAircraftTracking][onSuccess]")
    }

    override fun onFailure(error: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyAircraftTracking][onFailure][error]$error")
    }
})

data class DFAircraftTrackingBean(
    var enable: Boolean = true,  //是否启用跟踪
    var trackingType: DFTrackingTypeEnum = DFTrackingTypeEnum.STANDARD //跟踪模式
)

固定翼无人机支持的跟踪模式有：标准跟踪，同步跟踪，盘旋跟踪等，参见DFTrackingTypeEnum

3.2 跟踪角度

val key = KeyTools.createKey(DFFlightPropertyKey.KeyTrackAngle)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
//参数为角度值，范围[0，360]
keyManager?.setValue(key, 90f, object: CommonCallbacks.CompletionCallback {
    override fun onSuccess() {
        Log.d(TAG, "[KeyTrackAngle][onSuccess]")
    }

    override fun onFailure(code: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyTrackAngle][onFailure][error]$error")
    }
})

3.3 跟踪角度类型

val key = KeyTools.createKey(DFFlightPropertyKey.KeyTrackAngleType)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
//角度类型：1 绝对角度；2 相对角度
keyManager?.setValue(key, 1f, object: CommonCallbacks.CompletionCallback {
    override fun onSuccess() {
        Log.d(TAG, "[KeyTrackAngleType][onSuccess]")
    }

    override fun onFailure(code: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyTrackAngleType][onFailure][error]$error")
    }
})

3.4 跟踪半径

val key = KeyTools.createKey(DFFlightPropertyKey.KeyTrackRadius)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
//跟踪半径，单位：米，范围[200, 3000]
keyManager?.setValue(key, 2000f, object: CommonCallbacks.CompletionCallback {
    override fun onSuccess() {
        Log.d(TAG, "[KeyTrackRadius][onSuccess]")
    }

    override fun onFailure(code: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyTrackRadius][onFailure][error]$error")
    }
})

3.5 跟踪距离

val key = KeyTools.createKey(DFFlightPropertyKey.KeyTrackDistance)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
//跟踪距离，单位：米，范围[0, 3000]
keyManager?.setValue(key, 2000f, object: CommonCallbacks.CompletionCallback {
    override fun onSuccess() {
        Log.d(TAG, "[KeyTrackDistance][onSuccess]")
    }

    override fun onFailure(code: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyTrackDistance][onFailure][error]$error")
    }
})

3.6 跟踪环绕方向

val key = KeyTools.createKey(DFFlightPropertyKey.KeyTrackDirection)
val keyManager =  DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()
//跟踪环绕方向 -1：顺时针; 0：自动；1：逆时针；
keyManager?.setValue(key, 0, object: CommonCallbacks.CompletionCallback {
    override fun onSuccess() {
        Log.d(TAG, "[KeyTrackDirection][onSuccess]")
    }

    override fun onFailure(code: IAutelCode, msg: String?) {
        Log.e(TAG, "[KeyTrackDirection][onFailure][error]$error")
    }
})

4. 参考代码

可参考Demo AIRecognizeFragment