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更新：1、修复全部C4819 / C4018 / C4244警告；

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2、更新项目文档；
This commit is contained in:
waiwaylee
2026-09-07 14:29:24 +08:00
parent f438ac53d9
commit 5f820987a9
37 changed files with 304 additions and 272 deletions
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data_process_class_dll/track_asso.cpp
+43 -43
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@@ -1,4 +1,4 @@
#include "track_asso.h"
#include "track_asso.h"
#include "kalman.h"
#include "coor_trans.h"
#include <cmath>
@@ -20,7 +20,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
{
//取出对应点迹区的点
for (int i=0;i< point_recv->size();i++)
for (size_t i=0;i< point_recv->size();i++)
{
point_process.push_back((*point_recv)[i]);
int n=point_process.size();
@@ -51,7 +51,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
//剩余点重新存入点迹
std::vector<PointRecv>().swap((*point_recv));
for (int i=0;i<point_process.size();i++)
for (size_t i=0;i<point_process.size();i++)
{
(*point_recv).push_back(point_process[i]);
@@ -62,7 +62,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
std::vector<PointRecv>().swap(point_process);
//输出航迹
for (int i=0;i<trust_track->size();i++)
for (size_t i=0;i<trust_track->size();i++)
{ // 输出更新航迹条件：
// if((*trust_track)[i].manual_tracking_flag==0)
// {
@@ -76,53 +76,53 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
coor_trans Coor_trans;
double r, azi;
Coor_trans.cart2polar(x, y, &r, &azi);
Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r;
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azi/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r);
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azi/PI*180);
if((*trust_track)[i].Height<r)
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = asin((*trust_track)[i].Height/r)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>(asin((*trust_track)[i].Height/r)/PI*180);
else
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = (*trust_track)[i].elev_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V =
sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i].Amplitude;
static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = static_cast<float>((*trust_track)[i].Amplitude);
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i].T_track/1000.0;
Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=static_cast<float>((*trust_track)[i].T_track/1000.0);
Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);
double Direction_Angle;
Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;}
Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);
//关联点信息
Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=(*trust_track)[i].range_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i].azi_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i].elev_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i].vr_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast<float>((*trust_track)[i].range_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast<float>((*trust_track)[i].azi_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=static_cast<float>((*trust_track)[i].elev_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=static_cast<float>((*trust_track)[i].vr_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=0;
Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = static_cast<float>((*trust_track)[i].prf_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
//直接输出点迹高度-20260605
//Trust_Track_Output[*Trust_track_num_Output-1][0].z = (*trust_track)[i].range_point * sin((*trust_track)[i].elev_point/180.0*PI);
//输出平滑后的高度
Trust_Track_Output[*Trust_track_num_Output-1][0].z = (*trust_track)[i].Height+Work_Parameter.Height;
Trust_Track_Output[*Trust_track_num_Output-1][0].z = static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = (*trust_track)[i].elev_point;
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0];
Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3];
Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1];
Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4];
Trust_Track_Output[*Trust_track_num_Output-1][0].x=static_cast<float>((*trust_track)[i].X[0]);
Trust_Track_Output[*Trust_track_num_Output-1][0].y=static_cast<float>((*trust_track)[i].X[3]);
Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=static_cast<float>((*trust_track)[i].X[1]);
Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=static_cast<float>((*trust_track)[i].X[4]);
Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i].RCS;
Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast<float>((*trust_track)[i].RCS);
Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num;
std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim));
@@ -137,7 +137,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
void Track_Asso:: model_interaction(std::vector <Trust_Track> *trust_track)
{
for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
for (size_t loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
{
// if((*trust_track)[loop_of_track].manual_tracking_flag == 0)
@@ -413,13 +413,13 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
std::vector <asso_info> associated_info;
//遍历所有点迹航迹 计算点迹和航迹的统计距离
for (int loop_of_track = 0; loop_of_track<trust_track->size();loop_of_track++)
for (size_t loop_of_track = 0; loop_of_track<trust_track->size();loop_of_track++)
{
// if((*trust_track)[loop_of_track].manual_tracking_flag==0)
// {
(*trust_track)[loop_of_track].point_flag = 0; //航迹的point_flag置为0 关联上点后再置为1
for (int loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
for (size_t loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
{
//时间差
@@ -554,8 +554,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
associated_info_tmp.d1=d1;
associated_info_tmp.d2=d2;
associated_info_tmp.d3=d3;
associated_info_tmp.point_index=loop_of_point+1;
associated_info_tmp.track_index=loop_of_track+1;
associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
associated_info_tmp.track_index=static_cast<int>(loop_of_track)+1;
if(d1<=d2&&d1<=d3)
associated_info_tmp.d_min=d1;
else if(d2<=d1&& d2<=d3)
@@ -571,7 +571,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
//最近邻法关联
int associated_num=associated_info.size();
for (int i=0;i<trust_track->size();i++)
for (size_t i=0;i<trust_track->size();i++)
{
//寻找最小d
if(associated_num>0)
@@ -650,9 +650,9 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
for (int ii=0;ii<3;ii++)
for (int jj=0;jj<3;jj++)
{
S1_out(ii,jj)=S1[ii][jj];
S2_out(ii,jj)=S2[ii][jj];
S3_out(ii,jj)=S3[ii][jj];
S1_out(ii,jj)=static_cast<float>(S1[ii][jj]);
S2_out(ii,jj)=static_cast<float>(S2[ii][jj]);
S3_out(ii,jj)=static_cast<float>(S3[ii][jj]);
}
double det_S1=S1_out.determinant();
double Possibility1=(det_S1>1e-12)?(1.0/sqrt(pow(2*PI,3)*det_S1)*exp(-0.5*d1)):0.0;
@@ -755,7 +755,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
}
//未关联上的航迹 进行外推 tws
for (int i =0; i<(*trust_track).size();i++ )
for (size_t i =0; i<(*trust_track).size();i++ )
{
if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].manual_tracking_flag == 0)
{
@@ -804,8 +804,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
(*trust_track)[i].T_track = (*trust_track)[i].T_track+delta_T*1000.0; //更新航迹时间
(*trust_track)[i].GNSS_time = (*trust_track)[i].GNSS_time+delta_T*1000.0; //更新航迹时间
(*trust_track)[i].T_track = static_cast<long long>((*trust_track)[i].T_track+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].GNSS_time = static_cast<long long>((*trust_track)[i].GNSS_time+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].point_flag=0; //虚点
}
@@ -815,7 +815,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
void Track_Asso:: model_output(std::vector <Trust_Track> *trust_track)
{
for(int loop_of_track=0; loop_of_track<trust_track->size(); loop_of_track++)
for(size_t loop_of_track=0; loop_of_track<trust_track->size(); loop_of_track++)
{
// if((*trust_track)[loop_of_track].manual_tracking_flag==0)
@@ -919,7 +919,7 @@ void Track_Asso:: track_hight_update(int updata_
)
{
if(updata_track_index<=trust_track->size() && asso_point_index<=point_process.size())
if(updata_track_index<=static_cast<int>(trust_track->size()) && asso_point_index<=static_cast<int>(point_process.size()))
{
(*trust_track)[updata_track_index-1].Hight_smooth.push_back(point_process[asso_point_index-1].Height);
@@ -944,10 +944,10 @@ void Track_Asso:: track_hight_update(int updata_
}
double sum=0;
if((*trust_track)[updata_track_index-1].Hight_smooth.size()<height_win_length)
if((*trust_track)[updata_track_index-1].Hight_smooth.size()<static_cast<size_t>(height_win_length))
{
for (int i=0;i<(*trust_track)[updata_track_index-1].Hight_smooth.size();i++)
for (size_t i=0;i<(*trust_track)[updata_track_index-1].Hight_smooth.size();i++)
{
sum=sum+(*trust_track)[updata_track_index-1].Hight_smooth[i];
@@ -956,7 +956,7 @@ void Track_Asso:: track_hight_update(int updata_
(*trust_track)[updata_track_index-1].Height=sum/(*trust_track)[updata_track_index-1].Hight_smooth.size();
}
else if((*trust_track)[updata_track_index-1].Hight_smooth.size()>=height_win_length)
else if((*trust_track)[updata_track_index-1].Hight_smooth.size()>=static_cast<size_t>(height_win_length))
{
int N=(*trust_track)[updata_track_index-1].Hight_smooth.size();