waiwaylee/radar_data_process
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新：1、修复全部C4819 / C4018 / C4244警告；

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
data_process_class_dll/track_init.cpp
+37 -37
View File
@@ -1,4 +1,4 @@
#include "track_init.h"
#include "track_init.h"
#include "kalman.h"
#include "coor_trans.h"
#include <cmath>
@@ -34,13 +34,13 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
// }
//取出待起航的点迹数据
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]);
//临时航迹的buff_round+1
for (int i=0;i<temp_track->size();i++)
for (size_t i=0;i<temp_track->size();i++)
{
for (int j=0;j<(*temp_track)[i].size();j++)
for (size_t j=0;j<(*temp_track)[i].size();j++)
{
(*temp_track)[i][j].buff_round = (*temp_track)[i][j].buff_round+1;
}
@@ -71,7 +71,7 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
//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]);
//剩余点转为航迹头
@@ -155,9 +155,9 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
};
std::vector <Asso_info> asso_info;
for ( int i=0;i<point_process.size();i++)
for ( size_t i=0;i<point_process.size();i++)
{
for ( int j=0;j<(*temp_track).size();j++)
for ( size_t j=0;j<(*temp_track).size();j++)
{
int L = (*temp_track)[j].size();
@@ -174,7 +174,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
double prt = point_process[i].PRF_index;
double freq_ind = point_process[i].Freq_index;
double h_point = point_process[i].Height;
double T_point = point_process[i].CPI_Time;
double T_point = static_cast<double>(point_process[i].CPI_Time);
//航迹信息
double X[4];
@@ -184,7 +184,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
double v_temp_track=(*temp_track)[j][L-1].vr;
double r_temp_track=(*temp_track)[j][L-1].r;
double h_temp_track=(*temp_track)[j][L-1].height;
double T_track_head = (*temp_track)[j][L-1].T;
double T_track_head = static_cast<double>((*temp_track)[j][L-1].T);
double delta_T = (T_point - T_track_head)/1000.0;
@@ -221,8 +221,8 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha<ALPHA_START && vr_point*v_temp_track>0)// && fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8
{
struct Asso_info asso_info_tmp;
asso_info_tmp.point_idx = i+1;
asso_info_tmp.track_idx = j+1;
asso_info_tmp.point_idx = static_cast<int>(i)+1;
asso_info_tmp.track_idx = static_cast<int>(j)+1;
asso_info_tmp.d = d;
asso_info.push_back(asso_info_tmp);
(*temp_track)[j][L-1].asso_flag = 1;
@@ -235,7 +235,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
}
// temp_track中加入新关联上的临时航迹
for (int i = 0 ; i<asso_info.size();i++ )
for (size_t i = 0 ; i<asso_info.size();i++ )
{
(*temp_track).push_back(std::vector <Temp_track> ());
@@ -316,10 +316,10 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
std::vector <Asso_info> asso_info;
//关联
for ( int i=0;i<point_process.size();i++)
for ( size_t i=0;i<point_process.size();i++)
{
for ( int j=0;j<temp_track->size();j++)
for ( size_t j=0;j<temp_track->size();j++)
{
if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2)
@@ -332,7 +332,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
vr_point=point_process[i].Velocity;
double r_point=point_process[i].Range;
double h_point = point_process[i].Height;
double T_point = point_process[i].CPI_Time;
double T_point = static_cast<double>(point_process[i].CPI_Time);
//航迹信息
double x_track_head, y_track_head;
@@ -340,7 +340,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
y_track_head=(*temp_track)[j][0].X[2];
double v_track_head=(*temp_track)[j][0].vr;
double h_track_head = (*temp_track)[j][0].height;
double T_track_head = (*temp_track)[j][0].T;
double T_track_head = static_cast<double>((*temp_track)[j][0].T);
//距离差
double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
@@ -368,8 +368,8 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
{
struct Asso_info asso_info_tmp;
asso_info_tmp.point_idx = i+1;
asso_info_tmp.track_idx = j+1;
asso_info_tmp.point_idx = static_cast<int>(i)+1;
asso_info_tmp.track_idx = static_cast<int>(j)+1;
asso_info.push_back(asso_info_tmp);
(*temp_track)[j][0].asso_flag = 1;
point_process[i].Use_Flag = 1;
@@ -381,7 +381,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
}
// temp_track中加入新关联上的临时航迹
for (int i = 0 ; i<asso_info.size();i++ )
for (size_t i = 0 ; i<asso_info.size();i++ )
{
(*temp_track).push_back(std::vector <Temp_track> ());
@@ -612,19 +612,19 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Index=index;
Trust_Track_Output[*Trust_track_num_Output-1][j].Point_Sum=L;
Trust_Track_Output[*Trust_track_num_Output-1][j].Range=Track_to_start[i][j].r;
Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=Track_to_start[i][j].azi/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].Range=static_cast<float>(Track_to_start[i][j].r);
Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=static_cast<float>(Track_to_start[i][j].azi/PI*180);
{
double elev_ratio = (Track_to_start[i][j].r > 0.0) ? Track_to_start[i][j].height / Track_to_start[i][j].r : 0.0;
if (elev_ratio > 1.0) elev_ratio = 1.0;
if (elev_ratio < -1.0) elev_ratio = -1.0;
Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=asin(elev_ratio)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=static_cast<float>(asin(elev_ratio)/PI*180);
}
Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=sqrt(pow(Track_to_start[i][j].X[1],2)+pow(Track_to_start[i][j].X[3],2));
Trust_Track_Output[*Trust_track_num_Output-1][j].z=Track_to_start[i][j].height;
Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=Track_to_start[i][j].Amp;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = Track_to_start[i][j].snr;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = Track_to_start[i][j].RCS;
Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=static_cast<float>(sqrt(pow(Track_to_start[i][j].X[1],2)+pow(Track_to_start[i][j].X[3],2)));
Trust_Track_Output[*Trust_track_num_Output-1][j].z=static_cast<float>(Track_to_start[i][j].height);
Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=static_cast<float>(Track_to_start[i][j].Amp);
Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = static_cast<float>(Track_to_start[i][j].snr);
Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = static_cast<float>(Track_to_start[i][j].RCS);
Trust_Track_Output[*Trust_track_num_Output-1][j].pitch_num = Track_to_start[i][j].pitch_num;
@@ -634,25 +634,25 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
Direction_Angle=atan2(Track_to_start[i][j].X[3],Track_to_start[i][j].X[1]);
if(Direction_Angle<0)
Direction_Angle=Direction_Angle+2*PI;
Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=Direction_Angle/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);
Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=(Track_to_start[i][j].T)/1000.0;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=static_cast<float>((Track_to_start[i][j].T)/1000.0);
Trust_Track_Output[*Trust_track_num_Output-1][j].GNSS_time=Track_to_start[i][j].GNSS_time;
Trust_Track_Output[*Trust_track_num_Output-1][j].x=Track_to_start[i][j].X[0];
Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=Track_to_start[i][j].X[1];
Trust_Track_Output[*Trust_track_num_Output-1][j].y=Track_to_start[i][j].X[2];
Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=Track_to_start[i][j].X[3];
Trust_Track_Output[*Trust_track_num_Output-1][j].x=static_cast<float>(Track_to_start[i][j].X[0]);
Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=static_cast<float>(Track_to_start[i][j].X[1]);
Trust_Track_Output[*Trust_track_num_Output-1][j].y=static_cast<float>(Track_to_start[i][j].X[2]);
Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=static_cast<float>(Track_to_start[i][j].X[3]);
Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=Track_to_start[i][j].r;
Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=Track_to_start[i][j].azi/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=static_cast<float>(Track_to_start[i][j].r);
Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=static_cast<float>(Track_to_start[i][j].azi/PI*180);
{
double elev_ratio = (Track_to_start[i][j].r > 0.0) ? Track_to_start[i][j].height / Track_to_start[i][j].r : 0.0;
if (elev_ratio > 1.0) elev_ratio = 1.0;
if (elev_ratio < -1.0) elev_ratio = -1.0;
Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=asin(elev_ratio)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=static_cast<float>(asin(elev_ratio)/PI*180);
}
Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=Track_to_start[i][j].vr;
Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=static_cast<float>(Track_to_start[i][j].vr);
Trust_Track_Output[*Trust_track_num_Output-1][j].point_type=0;
Trust_Track_Output[*Trust_track_num_Output-1][j].Flag_Point=1;
Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Mode=0;//跟踪模式 TWS 0