tracking到老数据需要更新一下timestamp

TrackingRos.cpp

@@ -369,6 +369,7 @@ void TrackingRos::ThreadTrackingProcess()
 #ifdef _USING_NSIGHT_
             nvtxRangePush("ThreadTrackingProcess");
 #endif
+            uint64_t cur_timestamp = (unsigned long long)objsPtr->cloud.header.stamp.sec * 1000 + (unsigned long long)objsPtr->cloud.header.stamp.nsec * 1e-6;
             m_frameNum++;
             //SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
             std::vector< std::vector<float> > input;
@@ -471,6 +472,7 @@ void TrackingRos::ThreadTrackingProcess()
                     if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
                     {
                         is_need_send = 1;//需要发送
+                        obj.frame = cur_timestamp;
                         obj.x = data[0];
                         obj.y = data[1];
                         obj.z = data[2];