20200722, 联调通信

locate/locate_manager.cpp

@@ -194,6 +194,14 @@ Error_manager Locate_manager::execute_task(Task_Base* p_locate_task)
 		}
 		else
 		{
+//			std::cout << "--------------------------------------" << std::endl;
+//
+//			std::cout << mp_locate_manager_task->get_task_point_cloud_map()->size() << std::endl;
+//			std::cout << mp_locate_manager_task->get_cloud_aggregation_flag() << std::endl;
+//			std::cout << "--------------------------------------" << std::endl;
+
+
+
 			//校验map的大小
 			if ( (mp_locate_manager_task->get_task_point_cloud_map()->size() ==1 && mp_locate_manager_task->get_cloud_aggregation_flag() == true)
 				 || ( (mp_locate_manager_task->get_task_point_cloud_map()->size() == CNN3D_WHEEL_NUMBER

main.cpp

@@ -58,7 +58,7 @@ int main(int argc,char* argv[])
 	FLAGS_stop_logging_if_full_disk = true;
 
 
-
+/*
 
 	Laser_manager::get_instance_references().laser_manager_init();
 	std::cout << "Laser_manager = " << Laser_manager::get_instance_references().get_laser_manager_status() << std::endl;
@@ -79,7 +79,7 @@ int main(int argc,char* argv[])
 
 	return 0;
 
-
+*/
 	LOG(INFO) << " --- main start --- " ;
 
 
@@ -137,6 +137,9 @@ int main(int argc,char* argv[])
 			std::mutex cloud_lock;
 			std::vector<int> select_laser_id_vector;
 			select_laser_id_vector.push_back(0);
+			select_laser_id_vector.push_back(1);
+			select_laser_id_vector.push_back(2);
+			select_laser_id_vector.push_back(3);
 
 
 			time_t nowTime;
@@ -212,8 +215,7 @@ int main(int argc,char* argv[])
 
 			Locate_manager_task * locate_manager_task = new Locate_manager_task;
 			locate_manager_task->task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(15000),
-										   true,t_save_path,&cloud_lock,&point_cloud_map,true
-			);
+										   true,t_save_path,&cloud_lock,&point_cloud_map, false	);
 			t_error = Task_command_manager::get_instance_references().execute_task(locate_manager_task);
 
 			if ( t_error != Error_code::SUCCESS )
@@ -242,6 +244,18 @@ int main(int argc,char* argv[])
 
 				std::cout << "huli task_error:::::"  << locate_manager_task->get_task_error_manager().to_string() << std::endl;
 
+
+				std::cout << "locate_x = " << locate_manager_task->get_task_locate_information_ex()->locate_x << std::endl;
+				std::cout << "locate_y = " << locate_manager_task->get_task_locate_information_ex()->locate_y << std::endl;
+				std::cout << "locate_length = " << locate_manager_task->get_task_locate_information_ex()->locate_length << std::endl;
+				std::cout << "locate_width = " << locate_manager_task->get_task_locate_information_ex()->locate_width << std::endl;
+				std::cout << "locate_height = " << locate_manager_task->get_task_locate_information_ex()->locate_height << std::endl;
+				std::cout << "locate_wheel_base = " << locate_manager_task->get_task_locate_information_ex()->locate_wheel_base << std::endl;
+				std::cout << "locate_wheel_width = " << locate_manager_task->get_task_locate_information_ex()->locate_wheel_width << std::endl;
+				std::cout << "locate_angle = " << locate_manager_task->get_task_locate_information_ex()->locate_angle << std::endl;
+				std::cout << "locate_correct = " << locate_manager_task->get_task_locate_information_ex()->locate_correct << std::endl;
+
+
 			}
 			delete(locate_manager_task);
 			std::cout << "huli locate result:::::" << t_error.to_string() << std::endl;

setting/laser.prototxt

@@ -1,9 +1,50 @@
 #1号雷达
-#  0TFDFG700601881  0TFDFCE00502001 0TFDH5L00684HE1
+#  0TFDFG700601881  0TFDFCE00502001 0TFDH5L00684HE1  0TFDH5R006RCJ91
 
 
 
 
+laser_parameters
+{
+	type:"Livox"
+	sn:"0TFDFG700601881"
+	frame_num:1000
+    mat_r00:1
+    mat_r01:0
+    mat_r02:0
+    mat_r03:0
+    mat_r10:0
+    mat_r11:1
+    mat_r12:0
+    mat_r13:0
+    mat_r20:0
+    mat_r21:0
+    mat_r22:1
+    mat_r23:0
+}
+
+
+laser_parameters
+{
+	type:"Livox"
+	sn:"0TFDFCE00502001"
+	frame_num:1000
+    mat_r00:1
+    mat_r01:0
+    mat_r02:0
+    mat_r03:0
+    mat_r10:0
+    mat_r11:1
+    mat_r12:0
+    mat_r13:0
+    mat_r20:0
+    mat_r21:0
+    mat_r22:1
+    mat_r23:0
+}
+
+
+
 laser_parameters
 {
 	type:"Livox"
@@ -23,3 +64,23 @@ laser_parameters
     mat_r23:0
 }
 
+
+
+laser_parameters
+{
+	type:"Livox"
+	sn:"0TFDH5R006RCJ91"
+	frame_num:1000
+    mat_r00:1
+    mat_r01:0
+    mat_r02:0
+    mat_r03:0
+    mat_r10:0
+    mat_r11:1
+    mat_r12:0
+    mat_r13:0
+    mat_r20:0
+    mat_r21:0
+    mat_r22:1
+    mat_r23:0
+}