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

更新：1、将参数配置信息对象改为全局可访问，并避免通过函数参数传入；

Browse Source 
Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-27 15:56:02 +08:00
parent 76b0b460a5
commit 7e4cb2922d
34 changed files with 202 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_process_class_dll/track_init.cpp
+14 -18
View File
@@ -13,8 +13,7 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
std::vector<Trust_Track> *trust_track, //可靠航迹
std::vector <std::vector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output,
const RDP_parameter& rdp_parameter
int *Trust_track_num_Output
)
{
@@ -35,10 +34,10 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
if(point_process.size()>0)
{
//点迹与临时航迹关联
point_temp_track_asso(temp_track,rdp_parameter);
point_temp_track_asso(temp_track);
//点迹与航迹头关联
point_track_head_asso(temp_track,rdp_parameter);
point_track_head_asso(temp_track);
//删除关联上的点迹
std::vector <PointRecv>::iterator Iter;
@@ -118,7 +117,7 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
#endif
//临时航迹满足起始长度 转为可靠航迹
tmp_track_to_trust_track(trust_track,temp_track,Trust_Track_Output, Trust_track_num_Output,rdp_parameter);
tmp_track_to_trust_track(trust_track,temp_track,Trust_Track_Output, Trust_track_num_Output);
}
@@ -129,8 +128,7 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
}
void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>> *temp_track,
const RDP_parameter& rdp_parameter)
void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>> *temp_track)
{
//关联信息
@@ -179,7 +177,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
{
//计算d
kalman Kalman;
double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind,rdp_parameter);
double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind);
//double d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind);
//double d = Kalman.d_cal_track_init(Z,X,P,delta_T);
//计算夹角
@@ -251,7 +249,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
kalman Kalman;
double T = ( point_process[asso_info[i].point_idx-1].CPI_time - (*temp_track)[asso_info[i].track_idx-1][L-1].CPI_time)/1000.0;
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P,rdp_parameter);
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P);
memcpy(asso_track_info_tmp.X, X, 4*sizeof(double));
memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double));
(*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp);
@@ -314,8 +312,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
}
}
void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>> *temp_track,
const RDP_parameter& rdp_parameter)
void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>> *temp_track)
{
//关联上的信息
@@ -434,7 +431,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
kalman Kalman;
double T = (point_process[asso_info[i].point_idx-1].CPI_time - (*temp_track)[asso_info[i].track_idx-1][0].CPI_time)/1000.0;
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P,rdp_parameter);
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P);
memcpy(asso_track_info_tmp.X, X, 4*sizeof(double));
memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double));
(*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp);
@@ -473,8 +470,7 @@ double Track_Init::alpha_cal_track_init(double x0,double y0,double x1,double y1,
void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_track,
std::vector <std::vector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output,
const RDP_parameter& rdp_parameter)
int *Trust_track_num_Output)
{
std::vector <std::vector<Temp_track>> Track_to_start;
@@ -519,7 +515,7 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
}
//航迹起批禁止区域判断
if(track_init_prohibit(range,azi,rdp_parameter)!=0)
if(track_init_prohibit(range,azi)!=0)
{
track_init_flag = false;
}
@@ -634,7 +630,7 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
if (Track_to_start[i].size() < 3) continue;
if(trust_track->size() < static_cast<std::size_t>(rdp_parameter.track_index_max))
{
int index = track_index_mangement.track_ind_get(trust_track, rdp_parameter);
int index = track_index_mangement.track_ind_get(trust_track);
if(index>0)
{
@@ -647,7 +643,7 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
double T1=(Track_to_start[i][L-2].CPI_time-Track_to_start[i][L-3].CPI_time)/1000.0;
double T2=(Track_to_start[i][L-1].CPI_time-Track_to_start[i][L-2].CPI_time)/1000.0;
kalman Kalman;
Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P,rdp_parameter);
Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P);
Trust_Track trust_track_tmp = {};
memcpy(trust_track_tmp.X, X, 6*sizeof(double));
@@ -783,7 +779,7 @@ void Track_Init::tmp_track_die(std::vector <std::vector<Temp_track>> *temp_t
}
};
int Track_Init::track_init_prohibit(double r, double azi, const RDP_parameter& rdp_parameter)
int Track_Init::track_init_prohibit(double r, double azi)
{
for (int i=0;i<rdp_parameter.track_init_prohibite_area_num;i++)