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更新：1、修改参数配置方式，改为由配置文件输入；

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-27 10:36:14 +08:00
parent 0e325fb153
commit 423c200659
39 changed files with 19638 additions and 945 deletions
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data_process_class_dll/dot_coh.cpp
+14 -14
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@@ -8,7 +8,7 @@ using namespace std;
int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
std::vector <PointRecv> *point_recv,
struct RadarPara Work_Parameter)
const RDP_parameter& rdp_parameter)
{
if(data_input->size()>1)
@@ -32,10 +32,10 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
float point_1_A=static_cast<float>((*data_input)[i].amplitude);
//凝聚条件： 距离、方位接近
if(Work_Parameter.work_mode == 0)
if(rdp_parameter.radar_work_mode == 0)
{
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI && fabs(point_0_V-point_1_V)<=rdp_parameter.point_cohesion_velocity)//
&& point_0_A <point_1_A )//
{
point_0_R=static_cast<float>((*data_input)[i].range);
@@ -44,7 +44,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
point_0_F=static_cast<float>((*data_input)[i].azimuth);
(*data_input)[loop_of_point].use_flag=1;
}
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
else if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI && fabs(point_0_V-point_1_V)<=rdp_parameter.point_cohesion_velocity)//
&& point_0_A >= point_1_A)//
{
(*data_input)[i].use_flag=1;
@@ -53,7 +53,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
else
{
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI )//
&& point_0_A <point_1_A )//
{
point_0_R=static_cast<float>((*data_input)[i].range);
@@ -62,7 +62,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
point_0_F=static_cast<float>((*data_input)[i].azimuth);
(*data_input)[loop_of_point].use_flag=1;
}
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
else if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI )//
&& point_0_A >= point_1_A)//
{
(*data_input)[i].use_flag=1;
@@ -79,7 +79,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
std::vector <PointRecv>::iterator Iter;
for (Iter=data_input->begin(); Iter!=data_input->end();)
{
if((*Iter).use_flag==1 || (*Iter).range <R_MIN || (*Iter).range > R_MAX )
if((*Iter).use_flag==1 || (*Iter).range <rdp_parameter.point_cohesion_range_min || (*Iter).range > rdp_parameter.point_cohesion_range_max )
{
data_input->erase(Iter);
Iter=data_input->begin();
@@ -100,7 +100,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv> *data_input,
int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input, //输入的点迹
std::vector <PointRecv> *point_recv, //输出点迹
struct RadarPara Work_Parameter //工作参数
const RDP_parameter& rdp_parameter //工作参数
)
{
@@ -148,10 +148,10 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input,
float point_1_A=static_cast<float>(data_tmp[i].amplitude);
//凝聚条件： 距离、方位接近
if(Work_Parameter.work_mode == 0)
if(rdp_parameter.radar_work_mode == 0)
{
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI && fabs(point_0_V-point_1_V)<=rdp_parameter.point_cohesion_velocity)//
&& point_0_A <point_1_A )//
{
point_0_R=static_cast<float>(data_tmp[i].range);
@@ -160,7 +160,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input,
point_0_F=static_cast<float>(data_tmp[i].azimuth);
data_tmp[loop_of_point].use_flag=1;
}
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
else if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI && fabs(point_0_V-point_1_V)<=rdp_parameter.point_cohesion_velocity)//
&& point_0_A >= point_1_A)//
{
data_tmp[i].use_flag=1;
@@ -169,7 +169,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input,
else
{
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI )//
&& point_0_A <point_1_A )//
{
point_0_R=static_cast<float>(data_tmp[i].range);
@@ -178,7 +178,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input,
point_0_F=static_cast<float>(data_tmp[i].azimuth);
data_tmp[loop_of_point].use_flag=1;
}
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
else if( (fabs(point_0_R-point_1_R)<=rdp_parameter.point_cohesion_range && delta_F <=rdp_parameter.point_cohesion_azimuth/180.0*PI )//
&& point_0_A >= point_1_A)//
{
data_tmp[i].use_flag=1;
@@ -195,7 +195,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv> *data_input,
std::vector <PointRecv>::iterator Iter;
for (Iter=data_tmp.begin(); Iter!=data_tmp.end();)
{
if((*Iter).use_flag==1 || (*Iter).range <R_MIN || (*Iter).range > R_MAX )
if((*Iter).use_flag==1 || (*Iter).range <rdp_parameter.point_cohesion_range_min || (*Iter).range > rdp_parameter.point_cohesion_range_max )
{
data_tmp.erase(Iter);
Iter=data_tmp.begin();