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更新：机扫和相扫程序合并，通过宏定义配置切换

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
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waiwaylee
2026-07-31 10:52:53 +08:00
parent 06d45f5917
commit 8636179bdf
8 changed files with 94 additions and 76 deletions
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data_process_class_dll/track_init.cpp
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@@ -99,6 +99,7 @@ int Track_Init::track_init_process_logic( QVector <PointRecv> *p
temp_track_tmp.X[2]=point_process[i].Range*sin(point_process[i].Azimuth);
temp_track_tmp.X[3]=0;
temp_track_tmp.T = point_process[i].CPI_Time;
temp_track_tmp.GNSS_time = point_process[i].GNSS_time;
temp_track_tmp.buff_round = 1;
// temp_track_tmp.Temp_track_section_idx = floor(point_process[i].beam_index/BEAM_NUM_DOT_SECTION)+1;
temp_track->push_back( QVector <Temp_track> ());
@@ -273,6 +274,7 @@ void Track_Init::point_temp_track_asso(QVector <QVector<Temp_track>> *temp_t
asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height;
asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude;
asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time;
asso_track_info_tmp.GNSS_time = point_process[asso_info[i].point_idx-1].GNSS_time;
asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity;
asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr;
asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS;
@@ -464,6 +466,7 @@ void Track_Init::point_track_head_asso( QVector <QVector<Temp_track>> *temp_
asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr;
asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS;
asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time;
asso_track_info_tmp.GNSS_time = point_process[asso_info[i].point_idx-1].GNSS_time;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num;
std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim));
std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim));
@@ -643,6 +646,7 @@ void Track_Init::tmp_track_to_trust_track(QVector<Trust_Track> *trust_track,
std::memcpy(trust_track_tmp.speed_dim, Track_to_start[i][L-1].speed_dim, sizeof(trust_track_tmp.speed_dim));
std::memcpy(trust_track_tmp.range_dim, Track_to_start[i][L-1].range_dim, sizeof(trust_track_tmp.range_dim));
trust_track_tmp.T_track = Track_to_start[i][L-1].T;
trust_track_tmp.GNSS_time = Track_to_start[i][L-1].GNSS_time;
trust_track_tmp.point_flag=1; //实点
trust_track_tmp.Track_Mode=0; //跟踪模式 TWS 0
trust_track_tmp.Target_Type=UNCONF_TARGET;
@@ -701,6 +705,7 @@ void Track_Init::tmp_track_to_trust_track(QVector<Trust_Track> *trust_track,
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].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];