提交更新

BaseTracker/Track3D.cpp

@@ -130,7 +130,23 @@ void Track3D::Predict()
         m_points.erase(m_points.begin());
     }
     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;
+    m_lastLastTimestamp = m_obj->frame;
+    float v_rate = 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);
+    }
+    kf_->F_(7, 0) = v_rate;
+    kf_->F_(8, 1) = v_rate;
+    kf_->F_(9, 2) = v_rate;
     BaseTrack::Predict();
+    kf_->F_(7, 0) = 1.0f;
+    kf_->F_(8, 1) = 1.0f;
+    kf_->F_(9, 2) = 1.0f;
 }
 void Track3D::Update(const std::vector<float>& data)
 {

BaseTracker/Track3D.h

@@ -51,6 +51,8 @@ public:
     trackOjbPtr m_obj = nullptr;
 
     std::vector<point2d> m_points;//保存最近的5个移动的点位
+
+    uint64_t m_lastLastTimestamp = 0;//记录上上一次的时间戳
 };
 
 double correct_angle(std::vector<point2d>& points);