提交时间点逻辑

EventsRos.cpp

@@ -245,6 +245,10 @@ void EventsRos::TrackCallBackFunc(const jfxrosperceiver::det_tracking_arrayConst
         obj.speed = sqrt(pow(item.v_x, 2) + pow(item.v_y, 2) + pow(item.v_z, 2));//计算出车的速度
         objsPtr->objs.emplace_back(obj);
     }
+    for (int i = 0; i < msg->pt.size(); i++)
+    {
+        objsPtr->pt.push_back(msg->pt[i]);
+    }
     m_jfx_events.PushEventInfos(objsPtr);
 }
 #endif
@@ -395,6 +399,15 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
         traffic.lane_angle = angle > 360 ? angle - 360 : angle;
         eventMsgs.traffic.emplace_back(traffic);
     }
+    if (outs.pt.size() == 4)
+    {
+        eventMsgs.pt.push_back(outs.pt[0]);
+        eventMsgs.pt.push_back(outs.pt[1]);
+        eventMsgs.pt.push_back(outs.pt[3]);
+        auto time_p = ros::Time::now();
+        std::uint64_t tt = (std::uint64_t)time_p.sec * 1000 + time_p.nsec * 1e-6;
+        eventMsgs.pt.push_back(tt);//发送发送的时间点
+    }
     m_pub.publish(eventMsgs);
 
     //删除过时的记录

msg/EventInfo.h

@@ -143,6 +143,7 @@ typedef struct _TrkObjs {
     std::vector<TrkObj> objs;
     std::vector<trafficJamInfo> traffic;
     std::vector<flowEvent> flowInfo;
+    std::vector<uint64_t> pt;
 }TrkObjs;
 using TrkObjsPtr = std::shared_ptr<TrkObjs>;