change simple_planning_simulator. add chasis time for bridge calc acc.

src/detection/detection_lidar_transfusion/detection_lidar_transfusion.pro

@@ -49,6 +49,7 @@ HEADERS += \
 
 INCLUDEPATH += /usr/include/pcl-1.7
 INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/pcl-1.10
 INCLUDEPATH += /usr/include/pcl-1.12
 INCLUDEPATH += /usr/include/eigen3
 

src/detection/detection_lidar_transfusion/preprocess/pointcloud_densification.cpp

@@ -104,8 +104,11 @@ void PointCloudDensification::enqueue(const pcl::PointCloud<pcl::PointXYZI>::Ptr
       sizeof(uint8_t) * pc_ptr->width * pc_ptr->height * sizeof(pcl::PointXYZI) / sizeof(uint8_t));
 
     CHECK_CUDA_ERROR(cudaMemcpyAsync(
-      data_d.get(), pc_ptr->data(), sizeof(uint8_t) * pc_ptr->width * pc_ptr->height * sizeof(pcl::PointXYZI),
+      data_d.get(), pc_ptr->points.data(), sizeof(uint8_t) * pc_ptr->width * pc_ptr->height * sizeof(pcl::PointXYZI),
       cudaMemcpyHostToDevice, stream_));
+//    CHECK_CUDA_ERROR(cudaMemcpyAsync(
+//      data_d.get(), pc_ptr->data(), sizeof(uint8_t) * pc_ptr->width * pc_ptr->height * sizeof(pcl::PointXYZI),
+//      cudaMemcpyHostToDevice, stream_));
 
     PointCloudWithTransform pointcloud = {
       std::move(data_d), pc_ptr->width * pc_ptr->height, Eigen::Affine3f::Identity()};

src/tool/simple_planning_simulator/simmodel.cpp

@@ -335,6 +335,7 @@ void simmodel::threadstate()
 
 #ifndef REAL_DYNAMICS
         iv::chassis xchassis;
+        xchassis.set_time(std::chrono::system_clock::now().time_since_epoch().count());
         xchassis.set_angle_feedback(mwheelsteer * mfwheelratio * 180.0/M_PI);
         xchassis.set_vel(mvel * 3.6);
 

src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp

@@ -283,7 +283,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     //myview_small->centerOn(-200,-200);
 
     /********************************** 百度地图显示  ********************************/
-
+#ifndef NOHTMLMAP
     if(gstrvehtype != "LuBan")
     {
 
@@ -297,6 +297,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
 #endif
         mMapview->setGeometry(1000,100,500,500);
     }
+#endif
     /********************************************************************************/
 
 
@@ -965,6 +966,7 @@ void ADCIntelligentVehicle::onStateTimerMap()
 {
     /*******************************更新百度地图******************************/
 
+#ifndef NOHTMLMAP
     if(gstrvehtype != "LuBan")
     {
         double flat = ServiceCarStatus.location->gps_lat;
@@ -988,6 +990,7 @@ void ADCIntelligentVehicle::onStateTimerMap()
 
 #endif
     }
+#endif
     /************************************************************************/
 }
 

src/ui/ui_ads_hmi/ui_ads_hmi.pro

@@ -119,4 +119,6 @@ LIBS += -livprotoif
 
 TRANSLATIONS = ui_ads_hmi_language.ts
 
-#DEFINES += USEGOOGLEMAP
+DEFINES += USEGOOGLEMAP
+
+#DEFINES += NOHTMLMAP