change adcndtmultimapping.

src/detection/detection_lidar_centerpoint/main.cpp

@@ -24,10 +24,10 @@ void init()
     std::vector<double> yaw_norm_thresholds ;
     const std::string densification_world_frame_id = "map";
     const int densification_num_past_frames = 1;
-    const std::string trt_precision = "fp32";
-    const std::string encoder_onnx_path = "/home/nvidia/models/pts_voxel_encoder_centerpoint_tiny.onnx";//this->declare_parameter<std::string>("encoder_onnx_path");
+    const std::string trt_precision = "fp16";
+    const std::string encoder_onnx_path = "/home/nvidia/models/pts_voxel_encoder_centerpoint.onnx";//this->declare_parameter<std::string>("encoder_onnx_path");
     const std::string encoder_engine_path ="/home/nvidia/models/pts_voxel_encoder_centerpoint.eng";//this->declare_parameter<std::string>("encoder_engine_path");
-    const std::string head_onnx_path = "/home/nvidia/models/pts_backbone_neck_head_centerpoint_tiny.onnx";//this->declare_parameter<std::string>("head_onnx_path");
+    const std::string head_onnx_path = "/home/nvidia/models/pts_backbone_neck_head_centerpoint.onnx";//this->declare_parameter<std::string>("head_onnx_path");
     const std::string head_engine_path ="/home/nvidia/models/pts_backbone_neck_head_centerpoint.eng" ;//this->declare_parameter<std::string>("head_engine_path");
     const std::size_t point_feature_size =4;
     const std::size_t max_voxel_size =40000;

src/tool/adcndtmultimapping/adcndtmultimapping.xml

@@ -1,5 +1,6 @@
 <xml>	
 	<node name="adcndtmultimapping">
 		<param name="msg" value="lidar_pc" />
+		<param name="oldlidar" value="false" />
 	</node>
 </xml>

src/tool/adcndtmultimapping/main.cpp

@@ -11,6 +11,8 @@ iv::Ivlog * givlog;
 std::string gstrlidarmsg;
 std::string gstrimumsg;
 
+bool gbOldLidar = false;
+
 
 int main(int argc, char *argv[])
 {
@@ -30,6 +32,11 @@ int main(int argc, char *argv[])
    iv::xmlparam::Xmlparam xp(strpath.toStdString());
    gstrlidarmsg = xp.GetParam("msg","lidarpc_center");
    gstrimumsg = xp.GetParam("gpsmsg","ins550d_gpsimu");
+   std::string strboldlidar = xp.GetParam("oldlidar","false");
+   if(strboldlidar == "true")
+   {
+       gbOldLidar = true;
+   }
     MainWindow w;
     w.show();
 

src/tool/adcndtmultimapping/mainwindow.cpp

@@ -442,7 +442,7 @@ void MainWindow::onTimer()
         //循环读取数据，直到读取到"lidar_pc"
         while((bx == true)&&(strcmp(strName,gstrlidarmsg.data()) != 0))
         {
-            if((strcmp(strName,gstrlidarmsg.data()) != 0))
+            if((strcmp(strName,gstrimumsg.data()) == 0))
             {
                                 iv::gps::gpsimu xgpsimu;
                                 bool bParse;

src/tool/adcndtmultimapping/ndt_mapping.cpp

@@ -200,6 +200,8 @@ extern iv::Ivlog * givlog;
 
 bool gbManualSave = false;
 
+extern bool gbOldLidar;
+
 void setmethod(int nmethod)
 {
     _method_type = MethodType::PCL_GENERIC;
@@ -1152,7 +1154,9 @@ void point_ndtmapping(pcl::PointCloud<pcl::PointXYZI>::Ptr raw_scan)
   //显示打印的信息字符串
   gstr = g_ostr.str();
 
-  glidartime = current_scan_time;
+  if(gbOldLidar)gbOldLidar = current_scan_time;
+  else
+    glidartime = current_scan_time/1000;
 
   gstr = gstr.substr(0,g_ostr.pcount());
 //  std::cout<<g_ostr.str()<<std::endl;