修改补偿逻辑

BaseTracker/Track3D.cpp

@@ -132,18 +132,23 @@ 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)
+    if (m_obj && m_lastLastTimestamp != 0 && m_obj->frame != m_lastLastTimestamp)
         interval = m_obj->frame - m_lastLastTimestamp;
-    if(m_obj)
-        m_lastLastTimestamp = m_obj->frame;
-    float v_rate = (float)interval / 100;
+    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, interval = %llu",v_rate,interval);
+        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_(7, 0) = v_rate;
-    kf_->F_(8, 1) = v_rate;
-    kf_->F_(9, 2) = v_rate;
+    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)