From b227ae19578c0478082a9b347d270f026bd03475 Mon Sep 17 00:00:00 2001 From: waiwaylee Date: Thu, 8 Oct 2026 16:01:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=EF=BC=9A1=E3=80=81=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=E5=A4=84=E7=90=86=E5=A2=9E=E5=8A=A0=E7=89=88=E6=9C=AC?= =?UTF-8?q?=E5=8F=B7=E8=BE=93=E5=87=BA=EF=BC=9B=202=E3=80=81=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0Debug=E6=A8=A1=E5=BC=8F=E4=B8=8B=E5=8F=AF=E9=9D=A0?= =?UTF-8?q?=E8=88=AA=E8=BF=B9=E3=80=81=E5=85=B3=E8=81=94=E4=BF=A1=E6=81=AF?= =?UTF-8?q?=E7=AD=89=E6=95=B0=E6=8D=AE=E5=86=99=E5=85=A5=E6=95=B0=E6=8D=AE?= =?UTF-8?q?=E5=BA=93=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: waiwaylee --- data_process_class_dll/data_process.cpp | 39 +--- .../data_process_class_dll.cpp | 2 + .../data_process_class_dll.h | 2 + data_process_class_dll/parameters.h | 21 +- data_process_class_dll/rdp_record.cpp | 25 ++- data_process_class_dll/rdp_record_entity.h | 180 +++++++++++++++--- data_process_class_dll/struct.h | 43 ++++- data_process_class_dll/track_asso.cpp | 78 ++++---- data_process_class_dll/track_init.cpp | 5 +- 9 files changed, 290 insertions(+), 105 deletions(-) diff --git a/data_process_class_dll/data_process.cpp b/data_process_class_dll/data_process.cpp index 5fa4ece..2a51c79 100644 --- a/data_process_class_dll/data_process.cpp +++ b/data_process_class_dll/data_process.cpp @@ -67,6 +67,8 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150]) { last_beam_num = Data_Input[0].Beam_index_aiz; circle_id++; + // std::cout << Data_Input[0].CPI_time << std::endl; + // RDP_LOG<<"CPI_time: "< MAX_TRACK_NUM) //防御：输出行数理论上不应超过航迹容量（见 README 11.2 BUG-08） - { - track_num = MAX_TRACK_NUM; - } - - std::vector recs; - recs.reserve(static_cast(track_num)); - for (int i = 0; i < track_num; ++i) - { - const struct Track &t = Trust_Track_Output[i][0]; //每行第 0 列为该航迹的主记录 - recs.push_back(RdpRecTrackOut{0, t.Track_Index, t.Track_Mode, t.Point_Sum, t.Flag_Point, - t.Flag_Direction, t.GNSS_time, t.track_time, - t.x, t.y, t.z, t.v_x, t.v_y, t.v_z, - t.Range, t.Azimuth, t.Elevation, t.Range_V, - t.track_snr, t.track_rcs}); - } - RDP_RECORD_BATCH(recs); -} -#endif - //数据处理 int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int *Trust_track_num_Output, @@ -231,14 +204,6 @@ int model) //std::cout << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round; } - //数据记录示例②：本圈输出的航迹（仅 TWS/TAS 处理帧有输出；记录功能关闭时不产生任何代码） -#ifdef RDP_RECORD_ENABLE - if (model == 1 || model == 3) - { - rdp_record_output_tracks(Trust_Track_Output, *Trust_track_num_Output); - } -#endif - return 1; } diff --git a/data_process_class_dll/data_process_class_dll.cpp b/data_process_class_dll/data_process_class_dll.cpp index 7490531..fbbb26f 100644 --- a/data_process_class_dll/data_process_class_dll.cpp +++ b/data_process_class_dll/data_process_class_dll.cpp @@ -5,6 +5,7 @@ #include "data_process.h" #include "rdp_log.h" #include "rdp_record.h" +#include "parameters.h" /* Data_process_class_dll::Data_process_class_dll() @@ -26,6 +27,7 @@ Data_process_class_dll *Data_Process_Factory::GetB() rdp_record::Init(); p=new Data_Process(); + p->version_info = VERSION_STRING; } return p; diff --git a/data_process_class_dll/data_process_class_dll.h b/data_process_class_dll/data_process_class_dll.h index b847ef0..6847416 100644 --- a/data_process_class_dll/data_process_class_dll.h +++ b/data_process_class_dll/data_process_class_dll.h @@ -3,6 +3,7 @@ #define DATA_PROCESS_CLASS_DLL_H #include "data_process_class_dll_global.h" +#include /***************************************************** 结构体 ********************************************************/ // 输入点迹的数据结构 用户可见 @@ -176,6 +177,7 @@ class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll public: // Data_process_class_dll(); + const char* version_info; //数据预处理函数 virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据 diff --git a/data_process_class_dll/parameters.h b/data_process_class_dll/parameters.h index f375197..1c9b815 100644 --- a/data_process_class_dll/parameters.h +++ b/data_process_class_dll/parameters.h @@ -7,13 +7,32 @@ //频点(GHz) #define FREQ0 9.2 +/**********************************版本信息*************************************************/ +#define MAJOR_VERSION 1 +#define MINOR_VERSION 5 +#define PATCH_VERSION 6 +#ifdef PHASE_SCANNING +#define VERSION_INFO "PS" +#else +#define VERSION_INFO "MS" +#endif + +#define STRINGIFY_IMPL(x) #x +#define STRINGIFY(x) STRINGIFY_IMPL(x) + +#define VERSION_STRING \ + "V" STRINGIFY(MAJOR_VERSION) "." \ + STRINGIFY(MINOR_VERSION) "." \ + STRINGIFY(PATCH_VERSION) "." \ + VERSION_INFO + /**********************************日志输出开关**********************************************/ // 日志文件输出功能开关： // 1) 定义（默认）RDP_LOG_ENABLE：启用日志文件输出 —— 调用 Data_Process_Factory::GetB() // 时自动将 std::cout 重定向到日志文件，日志文件存放于 RDP_LOG_DIR 目录， // 文件名按当前日期+时间自动命名（如 rdp_20240826_153000.log）； // 2) 注释掉 RDP_LOG_ENABLE：关闭 —— 不做重定向，日志仍输出到标准输出（控制台）。 -//#define RDP_LOG_ENABLE +// #define RDP_LOG_ENABLE //日志文件输出目录（相对当前工作目录的路径，目录不存在时自动创建） #define RDP_LOG_DIR ".\\rdp_logs\\" diff --git a/data_process_class_dll/rdp_record.cpp b/data_process_class_dll/rdp_record.cpp index 49bb200..e16b201 100644 --- a/data_process_class_dll/rdp_record.cpp +++ b/data_process_class_dll/rdp_record.cpp @@ -249,10 +249,25 @@ RDP_RECORD_DEFINE(RdpRecPointCohesionTAS); YLT_REFL(RdpRecTempTrack, id, temp_track_id,point_id,circle_id,X,P,r,azi,vr,height,SNR,RCS,amplitude, CPI_time,GNSS_time,d,buff_round,temp_track_section_idx,asso_flag,pitch_num); RDP_RECORD_DEFINE(RdpRecTempTrack); -// 示例②：本圈输出的航迹 -YLT_REFL(RdpRecTrackOut, id, track_index, track_mode, point_sum, flag_point, flag_direction, - gnss_time_ms, track_time_s, x, y, z, v_x, v_y, v_z, range_m, azi_deg, elev_deg, - range_v_mps, snr, rcs); -RDP_RECORD_DEFINE(RdpRecTrackOut); +//可靠航迹 +YLT_REFL(RdpRecTrustTrack, id,track_id,point_id,circle_id,Track_Index,Range,Azimuth,Elevation,Velocity,Amplitude,Height,T_track,GNSS_time,Track_Sum,Point_Index,Track_Mode, + Track_Update_Flag,Extrapolate_round,point_flag,approach_flag,manual_delete_flag,manual_tracking_flag, + associate_point_number,primary_target_flag,Target_Type,Track_section_idx, + range_point,azi_point,elev_point,vr_point,prf_point,point_type,snr_point, + amp_asv_point,prn_fftn_point,RCS,pitch_num,X,P,X1,X2,X3,P2,P3,u); +RDP_RECORD_DEFINE(RdpRecTrustTrack); + +//关联信息 +YLT_REFL(RdpRecAssoInfo, id,point_id,track_id,circle_id,d1,d2,d3,d_min,point_index,track_index, + delta_T,delta_h,R,VT, + thd_d,thd_h,thd_r, + min_d_flag); +RDP_RECORD_DEFINE(RdpRecAssoInfo); + +// // 示例②：本圈输出的航迹 +// YLT_REFL(RdpRecTrackOut, id, track_index, track_mode, point_sum, flag_point, flag_direction, +// gnss_time_ms, track_time_s, x, y, z, v_x, v_y, v_z, range_m, azi_deg, elev_deg, +// range_v_mps, snr, rcs); +// RDP_RECORD_DEFINE(RdpRecTrackOut); #endif // RDP_RECORD_ENABLE diff --git a/data_process_class_dll/rdp_record_entity.h b/data_process_class_dll/rdp_record_entity.h index 4891a4d..4b0d9f7 100644 --- a/data_process_class_dll/rdp_record_entity.h +++ b/data_process_class_dll/rdp_record_entity.h @@ -280,33 +280,165 @@ struct RdpRecTempTrack }; RDP_RECORD_DECLARE(RdpRecTempTrack); -// 示例②：本圈输出的航迹 —— 记录点位于 data_process.cpp::track_process()「数据记录示例②」处， -// TWS/TAS 共用一张表并用 track_mode 区分；每行取输出数组的 [i][0] -struct RdpRecTrackOut +// 可靠航迹 +struct RdpRecTrustTrack { int64_t id; //自增主键（写入时固定填 0） - int track_index; //航迹号 - int track_mode; //跟踪模式 TAS 1/TWS 0 - int point_sum; //该行点数（起批输出为历史点数 L） - int flag_point; //1实点/0补点 - int flag_direction; //1靠近/0远离 - int64_t gnss_time_ms; //GNSS 时间（ms） - float track_time_s; //航迹时间（s） - float x; //x坐标（m） - float y; //y坐标（m） - float z; //z坐标（m） - float v_x; //x速度（m/s） - float v_y; //y速度（m/s） - float v_z; //z速度（m/s） - float range_m; //径向距离（m） - float azi_deg; //方位（度） - float elev_deg; //俯仰（度） - float range_v_mps; //速度（m/s，接口字段 Range_V） - float snr; //信噪比 - float rcs; //RCS -}; -RDP_RECORD_DECLARE(RdpRecTrackOut); + long long track_id; //航迹ID + long long point_id; //关联上的点迹ID + long long circle_id; //处理圈数ID + int Track_Index; //航迹号 + double Range; //距离 + double Azimuth; //方位 + double Elevation; //俯仰 + double Velocity; //航向速度 + double Amplitude; //幅度 + double Height; //高度 + long long T_track; //航迹时间 + long long GNSS_time; //GNSS时间 + int Track_Sum; //航迹总数 + int Point_Index; //该航迹上的第几个点 + int Track_Mode; //跟踪模式 + int Track_Update_Flag; //航迹更新标志 1已更新/0未更新 + int Extrapolate_round; //航迹持续外推时间 + int point_flag; //是否实点 1实点 0外推 + int approach_flag; //接近标志 1接近 0远离 + int manual_delete_flag; //手动航迹删除 + int manual_tracking_flag; //手动TAS + int associate_point_number; //关联的点数 + int primary_target_flag; //重点目标标记 + int Target_Type; //目标类型 搜索目标 低空目标 地面目标 + int Track_section_idx; //航迹区号 + double range_point; //关联上的点信息（距离、方位、俯仰） + double azi_point; + double elev_point; + double vr_point; + double prf_point; + int point_type; //TWS TAS + double snr_point; //信噪比 + float amp_asv_point; //关联上的点迹信息（归一化幅度） + float prn_fftn_point; //点迹速度维FFT点数 + double RCS; + int pitch_num; // 俯仰波位号 + std::string X; //IMM + std::string P; + + std::string X1; + std::string X2; + std::string X3; + std::string P2; + std::string P3; + std::string u; + + RdpRecTrustTrack(){ + id = 0; + } + + RdpRecTrustTrack(Trust_Track& p){ + id = 0; + track_id = p.track_id; + point_id = p.point_id; + circle_id = p.circle_id; + Track_Index = p.Track_Index; + Range = p.Range; + Azimuth = p.Azimuth; + Elevation = p.Elevation; + Velocity = p.Velocity; + Amplitude = p.Amplitude; + Height = p.Height; + T_track = p.T_track; + GNSS_time = p.GNSS_time; + Track_Sum = p.Track_Sum; + Point_Index = p.Point_Index; + Track_Mode = p.Track_Mode; + Track_Update_Flag = p.Track_Update_Flag; + Extrapolate_round = p.Extrapolate_round; + point_flag = p.point_flag; + approach_flag = p.approach_flag; + manual_delete_flag = p.manual_delete_flag; + manual_tracking_flag = p.manual_tracking_flag; + associate_point_number = p.associate_point_number; + primary_target_flag = p.primary_target_flag; + Target_Type = p.Target_Type; //目标类型 搜索目标 低空目标 地面目标 + Track_section_idx = p.Track_section_idx; //航迹区号 + range_point = p.range_point; //关联上的点信息（距离、方位、俯仰） + azi_point = p.azi_point; + elev_point = p.elev_point; + vr_point = p.vr_point; + prf_point = p.prf_point; + point_type = p.point_type; //TWS TAS + snr_point = p.snr_point; //信噪比 + amp_asv_point = p.amp_asv_point; //关联上的点迹信息（归一化幅度） + prn_fftn_point = p.prn_fftn_point; //点迹速度维FFT点数 + RCS = p.RCS; + pitch_num = p.pitch_num; // 俯仰波位号 + + X = arrayToString(p.X); //IMM + P = arrayToString(p.P); + + X1 = arrayToString(p.X1); + X2 = arrayToString(p.X2); + X3 = arrayToString(p.X3); + P2 = arrayToString(p.P2); + P3 = arrayToString(p.P3); + u = arrayToString(p.u); + } +}; +RDP_RECORD_DECLARE(RdpRecTrustTrack); + +// 关联信息 +struct RdpRecAssoInfo +{ + int64_t id; //自增主键（写入时固定填 0） + long long point_id; + long long track_id; + long long circle_id; + + double d1; + double d2; + double d3; + double d_min; + int point_index; + int track_index; + + double delta_T; + double delta_h; + double R; + double VT; + + bool thd_d; + bool thd_h; + bool thd_r; + + bool min_d_flag; + + RdpRecAssoInfo(){ + id = 0; + } + + RdpRecAssoInfo(Asso_Info& p){ + id = 0; + point_id = p.point_id; + track_id = p.track_id; + circle_id = p.circle_id; + d1 = p.d1; + d2 = p.d2; + d3 = p.d3; + d_min = p.d_min; + point_index = p.point_index; + track_index = p.track_index; + delta_T = p.delta_T; + delta_h = p.delta_h; + R = p.R; + VT = p.VT; + thd_d = p.thd_d; + thd_h = p.thd_h; + thd_r = p.thd_r; + min_d_flag = p.min_d_flag; + } +}; +RDP_RECORD_DECLARE(RdpRecAssoInfo); // ============================ 数组转换函数 ============================ diff --git a/data_process_class_dll/struct.h b/data_process_class_dll/struct.h index 5b5adb2..155e1ba 100644 --- a/data_process_class_dll/struct.h +++ b/data_process_class_dll/struct.h @@ -39,13 +39,21 @@ struct PointRecv // 可靠航迹数据结构 struct Trust_Track { + long long track_id; //航迹ID + long long point_id; //关联上的点迹ID + long long circle_id; //处理圈数ID + int Track_Index; //航迹号 + double Range; //距离 + double Azimuth; //方位 + double Elevation; //俯仰 + double Velocity; //航向速度 double Amplitude; //幅度 double Height; //高度 - long long T_track; //航迹时间 - long long GNSS_time; //GNSS时间 + long long T_track; //航迹时间 + long long GNSS_time; //GNSS时间 int Track_Sum; //航迹总数 int Point_Index; //该航迹上的第几个点 @@ -58,8 +66,8 @@ struct Trust_Track int approach_flag; //接近标志 1接近 0远离 int manual_delete_flag; //手动航迹删除 - int manual_tracking_flag; //手动TAS - int associate_point_number; //关联的点数 + int manual_tracking_flag; //手动TAS + int associate_point_number; //关联的点数 int primary_target_flag; //重点目标标记 @@ -95,7 +103,6 @@ struct Trust_Track double P2[6][6]; double P3[6][6]; double u[3]; - }; //临时航迹结构体 @@ -131,6 +138,32 @@ struct Temp_track float range_dim[8]; // 目标的十字星数据,目标点距离维8个点 }; +//存储关联信息 +struct Asso_Info +{ + long long point_id; + long long track_id; + long long circle_id; + + double d1; + double d2; + double d3; + double d_min; + int point_index; + int track_index; + + double delta_T; + double delta_h; + double R; + double VT; + + bool thd_d; + bool thd_h; + bool thd_r; + + bool min_d_flag; +}; + // TAS跟踪目标结构体 struct Tracking_Target { diff --git a/data_process_class_dll/track_asso.cpp b/data_process_class_dll/track_asso.cpp index bfaa7e6..17495d0 100644 --- a/data_process_class_dll/track_asso.cpp +++ b/data_process_class_dll/track_asso.cpp @@ -6,6 +6,10 @@ #include #include #include + +#include "rdp_record.h" +#include "rdp_record_entity.h" + using namespace Eigen; using namespace std; @@ -101,6 +105,11 @@ int Track_Asso:: track_asso_process(std::vector *point_ if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;} Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast(Direction_Angle/PI*180); + (*trust_track)[i].Range = Trust_Track_Output[*Trust_track_num_Output-1][0].Range; + (*trust_track)[i].Azimuth = Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth; + (*trust_track)[i].Elevation = Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation; + (*trust_track)[i].Velocity = Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V; + //关联点信息 Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast((*trust_track)[i].range_point); Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast((*trust_track)[i].azi_point); @@ -143,12 +152,13 @@ int Track_Asso:: track_asso_process(std::vector *point_ Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=0; } - Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast((*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)); std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim)); + + RDP_RECORD(RdpRecTrustTrack((*trust_track)[i])); } } @@ -422,17 +432,8 @@ void Track_Asso::IMM_d_cal(double v_track, void Track_Asso:: model_filter(std::vector *trust_track,struct RadarPara Work_Parameter) { - //存储关联信息 - struct asso_info - { - double d1; - double d2; - double d3; - double d_min; - int point_index; - int track_index; - }; - std::vector associated_info; + + std::vector associated_info; //遍历所有点迹航迹 计算点迹和航迹的统计距离 for (size_t loop_of_track = 0; loop_of_tracksize();loop_of_track++) @@ -518,28 +519,38 @@ void Track_Asso:: model_filter(std::vector *trust_track,struct Ra thd_r = false; } + struct Asso_Info associated_info_tmp; + associated_info_tmp.d1=d1; + associated_info_tmp.d2=d2; + associated_info_tmp.d3=d3; + associated_info_tmp.point_index=static_cast(loop_of_point)+1; + associated_info_tmp.track_index=static_cast(loop_of_track)+1; + if(d1<=d2&&d1<=d3) + associated_info_tmp.d_min=d1; + else if(d2<=d1&& d2<=d3) + associated_info_tmp.d_min=d2; + else + associated_info_tmp.d_min=d3; + associated_info_tmp.point_id=point_process[loop_of_point].point_id; + associated_info_tmp.track_id=(*trust_track)[loop_of_track].track_id; + associated_info_tmp.circle_id=point_process[loop_of_point].circle_id; + associated_info_tmp.delta_T=delta_T; + associated_info_tmp.delta_h=delta_h; + associated_info_tmp.R=R; + associated_info_tmp.VT=VT; + associated_info_tmp.thd_d=thd_d; + associated_info_tmp.thd_h=thd_h; + associated_info_tmp.thd_r=thd_r; + associated_info_tmp.min_d_flag=false; + //小于关联门限 保存关联信息 if(thd_d && thd_h && thd_r) { - //std::cout << "asooooooooooo"; - - struct asso_info associated_info_tmp; - associated_info_tmp.d1=d1; - associated_info_tmp.d2=d2; - associated_info_tmp.d3=d3; - associated_info_tmp.point_index=static_cast(loop_of_point)+1; - associated_info_tmp.track_index=static_cast(loop_of_track)+1; - if(d1<=d2&&d1<=d3) - associated_info_tmp.d_min=d1; - else if(d2<=d1&& d2<=d3) - associated_info_tmp.d_min=d2; - else - associated_info_tmp.d_min=d3; - associated_info.push_back(associated_info_tmp); + }else{ + RDP_RECORD(RdpRecAssoInfo(associated_info_tmp)); } } -// } } //最近邻法关联 @@ -582,11 +593,10 @@ void Track_Asso:: model_filter(std::vector *trust_track,struct Ra double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; IMM_F_Q_gen( v_track, delta_T,F, Q1, Q2, Q3,Work_Parameter); - if (delta_T <= 0) + if (delta_T > 0) { - // RDP_LOG<<"delta_T <= 0, track_index: "< *trust_track,struct Ra (*trust_track)[track_index-1].GNSS_time = point_process[point_index-1].GNSS_time; //更新关联上的点迹信息 + (*trust_track)[track_index-1].point_id = point_process[point_index-1].point_id; + (*trust_track)[track_index-1].circle_id = point_process[point_index-1].circle_id; (*trust_track)[track_index-1].range_point=point_process[point_index-1].range; (*trust_track)[track_index-1].azi_point=point_process[point_index-1].azimuth/PI*180; (*trust_track)[track_index-1].elev_point= asin(point_process[point_index-1].height/point_process[point_index-1].range)/PI*180; @@ -681,6 +693,7 @@ void Track_Asso:: model_filter(std::vector *trust_track,struct Ra { if(associated_info[ii].track_index==track_index) { + RDP_RECORD(RdpRecAssoInfo(associated_info[ii])); associated_info.erase(associated_info.begin()+ii); associated_num=static_cast(associated_info.size()); } @@ -692,6 +705,7 @@ void Track_Asso:: model_filter(std::vector *trust_track,struct Ra { if(associated_info[ii].point_index==point_index) { + RDP_RECORD(RdpRecAssoInfo(associated_info[ii])); associated_info.erase(associated_info.begin()+ii); associated_num=static_cast(associated_info.size()); } diff --git a/data_process_class_dll/track_init.cpp b/data_process_class_dll/track_init.cpp index 64169eb..651fe90 100644 --- a/data_process_class_dll/track_init.cpp +++ b/data_process_class_dll/track_init.cpp @@ -552,7 +552,10 @@ void Track_Init::tmp_track_to_trust_track(std::vector *trust_tra Trust_Track trust_track_tmp = {}; memcpy(trust_track_tmp.X, X, 6*sizeof(double)); memcpy(trust_track_tmp.P, P, 6*6*sizeof(double)); - + + trust_track_tmp.track_id = Track_to_start[i][L-1].temp_track_id; + trust_track_tmp.point_id = Track_to_start[i][L-1].point_id; + trust_track_tmp.circle_id = Track_to_start[i][L-1].circle_id; trust_track_tmp.Amplitude=Track_to_start[i][L-1].amplitude; trust_track_tmp.snr_point = Track_to_start[i][L-1].SNR; trust_track_tmp.RCS = Track_to_start[i][L-1].RCS;