同步外场联调修改：

1.对跟踪输出目标按ID进行排序
2.增加日志记录

NeoTracker/src/NeoArithStandardDll.cpp

@@ -76,9 +76,9 @@ void ARIDLL_EOArithInitWithMode(ArithHandle hArith, int nWidth, int nHeight, GD_
 int ARIDLL_RunController(ArithHandle hArithSrc, GD_VIDEO_FRAME_S img, ARIDLL_INPUTPARA stInputPara, ARIDLL_OUTPUT* pstOutput)
 {
     //算法输入信息整理【调试】
-	LOG_DEBUG_INPUT("HI_Input:unFrmId:{}, nWidth:{},nHeight:{}, unFreq:{}, fServoAz:{}, fServoPt:{},st.Att.R:{},P:{},Y:{}, fAglReso:{},f, nFocus:{}, fPixelSize:{}, unVideoType:{}",
+	LOG_DEBUG_INPUT("HI_Input:unFrmId:{}, nWidth:{},nHeight:{}, unFreq:{}, fServoAz:{}, fServoPt:{},st.Att.R:{},P:{},Y:{}, st.Pos.B:{},H:{},L:{}, fAglReso:{},f, nFocus:{}, fPixelSize:{}, unVideoType:{}",
         stInputPara.unFrmId, img.u32Width, img.u32Height, stInputPara.unFreq, stInputPara.stServoInfo.fServoAz, stInputPara.stServoInfo.fServoPt, stInputPara.stAirCraftInfo.stAtt.fRoll, 
-                    stInputPara.stAirCraftInfo.stAtt.fPitch,stInputPara.stAirCraftInfo.stAtt.fYaw, stInputPara.stCameraInfo.fAglReso,
+                    stInputPara.stAirCraftInfo.stAtt.fPitch,stInputPara.stAirCraftInfo.stAtt.fYaw,stInputPara.stAirCraftInfo.stPos.B,stInputPara.stAirCraftInfo.stPos.H,stInputPara.stAirCraftInfo.stPos.L,stInputPara.stCameraInfo.fAglReso,
 		stInputPara.stCameraInfo.nFocus, stInputPara.stCameraInfo.fPixelSize, stInputPara.stCameraInfo.unVideoType);
     // 获取算法指针
     Arith_EOController* pArith = (Arith_EOController*)hArithSrc;
@@ -354,7 +354,7 @@ void ARIDLL_GetInputPara(Arith_EOController* pArith, int nWidth, int nHeight, AR
     // 载机位置
     Input->stPlanePos = stInputPara.stAirCraftInfo.stPos;
     // 当前帧平台姿态
-    Input->afPlatformRPY = stInputPara.stAirCraftInfo.stAtt;
+    Input->afPlatformRPY = { 0 };//stInputPara.stAirCraftInfo.stAtt;
 
     // 伺服方位俯仰角
     Input->afSvoAgl.fAz = stInputPara.stServoInfo.fServoAz;
@@ -636,6 +636,22 @@ void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutpu
             }
         }
     }
+
+    //对输出目标进行排序，防止ARM转发取差量时跳动
+    for (int i = 0; i < pstOutput->nTrackObjCnts; i++)
+    {
+        ARIDLL_OBJINFO trackObj_temp_i = pstOutput->stTrackers[i];
+        for (int j = i+1; j < pstOutput->nTrackObjCnts; j++)
+        {
+            //ARIDLL_OBJINFO trackObj_temp_j = pstOutput->stTrackers[j];
+            if (pstOutput->stTrackers[j].nOutputID < trackObj_temp_i.nOutputID)
+            {
+                pstOutput->stTrackers[i] = pstOutput->stTrackers[j];
+                pstOutput->stTrackers[j] = trackObj_temp_i;
+            }
+        }
+    }
+
     if(2 == pstOutput->nStatus)//搜索状态
     {
         if (pstOutput->nAlarmObjCnts > 0)
@@ -666,6 +682,7 @@ void ARIDLL_OutputPipeTarget(Arith_EOController* pArith, ARIDLL_OUTPUT* pstOutpu
         pstOutput->stAlarmObjs[0] = pstOutput->stAlarmObjs[Index];
         pstOutput->stAlarmObjs[Index] = TempObj;
     }
+    LOG_DEBUG_OUTPUT("stAlarmObjs[0]：nX:{},nY:{}; stTrackers[0]：nX:{},nY:{}", pstOutput->stAlarmObjs[0].nX, pstOutput->stAlarmObjs[0].nY, pstOutput->stTrackers[0].nX, pstOutput->stTrackers[0].nY);
 }
 
 

QGuideArithStudio/src/Project/S3315.cpp

@@ -31,6 +31,9 @@ void S3315GetImagePara(unsigned char* pParamDataBuffer, unsigned char* pResultDa
    memcpy(pParamNO65DataBuffer, pParamDataBuffer + 1280, 640);
     ImagePara->stServoInfo.fServoAz = calc_fov_by_mil(pParamNO65DataBuffer->B1B0 , 6000) * 6000.0f / 65536.0f;
     ImagePara->stServoInfo.fServoPt = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f;
+    ImagePara->stAirCraftInfo.stAtt.fYaw = calc_fov_by_mil(pParamNO65DataBuffer->B1B0, 6000) * 6000.0f / 65536.0f;
+    ImagePara->stAirCraftInfo.stAtt.fPitch = calc_fov_by_mil(pParamNO65DataBuffer->B3B2, 6000) * 6000.0f / 65536.0f;
+    ImagePara->stAirCraftInfo.stAtt.fRoll = calc_fov_by_mil(pParamNO65DataBuffer->B5B4, 6000) * 6000.0f / 65536.0f;
     ImagePara->stCameraInfo.fPixelSize = 25;
     ImagePara->stCameraInfo.nFocus = 302;
     ImagePara->unFreq = 50;

QGuideArithStudio/src/QVideoPlayer.cpp

@@ -1875,7 +1875,7 @@ void QVideoPlayer::DrawPipeAglInfo()
 
     auto pPipeArray = ARIDLL_ExportPipeArrayPtr(pEOTracker);
 
-    auto PipeNum = m_stDebugOutPut.nMaxPipeNum;
+    auto PipeNum = 99;//m_stDebugOutPut.nMaxPipeNum;
 
     //管道编号对应颜色表           by wcw04046 @ 2019/01/21
     UBYTE8 ubClorR[10] = { 200,35,50,75,100,125,155,170,190,200 };