#include #include #include #include "modulecomm.h" #include "radarobjectarray.pb.h" #include "objectarray.pb.h" #include "fusionobjectarray.pb.h" #include "fusionobject.pb.h" #include #include #include #include "eigen3/Eigen/Dense" //#include "data_manager.h" #include "fusion.hpp" #include "Tracking.hpp" #include "transformation.h" #include "mobileye.pb.h" using namespace iv; using namespace fusion; void *gfu = iv::modulecomm::RegisterSend("li_ra_fusion",10000000,1); static QMutex gMutex; typedef iv::radar::radarobjectarray RadarDataType; typedef iv::lidar::objectarray LidarDataType; typedef std::chrono::system_clock::time_point TimeType; iv::radar::radarobjectarray radarobjvec; iv::lidar::objectarray lidar_obj; iv::mobileye::mobileye mobileye_info; iv::mobileye::obs obs_info; iv::mobileye::lane lane_info; iv::mobileye::tsr tsr_info; QTime gTime; using namespace std; int gntemp = 0; iv::fusion::fusionobjectarray li_ra_fusion; void datafusion(iv::lidar::objectarray& lidar_obj,iv::radar::radarobjectarray& radarobjvec, iv::fusion::fusionobjectarray& li_ra_fusion); TrackerSettings settings; CTracker tracker(settings); bool m_isTrackerInitialized = false; void Listenesrfront(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname) { iv::radar::radarobjectarray radarobj; if(nSize<1)return; if(false == radarobj.ParseFromArray(strdata,nSize)) { std::cout<<" Listenesrfront fail."<10) // { // std::cout<<"x y vx vy "<10 ) // { // std::cout<<"x y vx vy w "<CopyFrom(fake_cen); fake_obj_ = out_fusion.add_obj(); fake_obj_->CopyFrom(fake_obj); out = out_fusion.SerializeAsString(); }else { out = out_fusion.SerializeAsString(); // for (int k = 0; k