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jfx_kalman_filter_src
Commit 28652b56 authored by oscar's avatar oscar
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update

parent adfe92a1
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Showing with 18 additions and 18 deletions
BaseTracker/Track3D.cpp
View file @ 28652b56
......@@ -131,24 +131,24 @@ void Track3D::Predict()
}
m_points.push_back(pos);
//根据上上次的时间戳与上一次的时间戳的间隔来调整预测的数据
uint64_t interval = 100;
if (m_obj && m_lastLastTimestamp != 0 && m_obj->frame != m_lastLastTimestamp)
interval = m_obj->frame - m_lastLastTimestamp;
float v_rate = (double)interval / 100;
if (v_rate > 1.5 || v_rate < 0.5)
{
SDK_LOG(SDK_INFO, "predict time error, v_rate = %f,m_lastLastTimestamp = %llu, frame = %llu, interval = %llu", v_rate, m_lastLastTimestamp, m_obj->frame, interval);
}
if (m_obj && m_obj->frame != m_lastLastTimestamp)
m_lastLastTimestamp = m_obj->frame;
else if (m_obj)
{
m_lastLastTimestamp += 100;
m_obj->frame = m_lastLastTimestamp;
}
kf_->F_(0, 7) = v_rate;
kf_->F_(1, 8) = v_rate;
kf_->F_(2, 9) = v_rate;
// uint64_t interval = 100;
// if (m_obj && m_lastLastTimestamp != 0 && m_obj->frame != m_lastLastTimestamp)
// interval = m_obj->frame - m_lastLastTimestamp;
// float v_rate = (double)interval / 100;
// if (v_rate > 1.5 || v_rate < 0.5)
// {
// SDK_LOG(SDK_INFO, "predict time error, v_rate = %f,m_lastLastTimestamp = %llu, frame = %llu, interval = %llu", v_rate, m_lastLastTimestamp, m_obj->frame, interval);
// }
// if (m_obj && m_obj->frame != m_lastLastTimestamp)
// m_lastLastTimestamp = m_obj->frame;
// else if (m_obj)
// {
// m_lastLastTimestamp += 100;
// m_obj->frame = m_lastLastTimestamp;
// }
// kf_->F_(0, 7) = v_rate;
// kf_->F_(1, 8) = v_rate;
// kf_->F_(2, 9) = v_rate;
BaseTrack::Predict();
}
void Track3D::Update(const std::vector<float>& data)
......
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