Merge branch 'master' of http://git.corp.roadlinks.cn:2020/oscar/jfx_kalman_filter_src

TrackingRos.cpp

@@ -316,6 +316,7 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
     objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
     objsPtr->array = msg->array;
     objsPtr->cloud = msg->cloud;
+    objsPtr->pt = msg->pt;
 
     static int countR = 0;
     countR++;
@@ -599,6 +600,10 @@ void TrackingRos::ThreadTrackingProcess()
             }
             //sendObjs.cloud = objsPtr->cloud;
             //SDK_LOG(SDK_INFO, "calculate objs size = %d", sendObjs.array.size());
+            sendObjs.pt = objsPtr->pt;
+            auto time_p = ros::Time::now();
+            std::uint64_t tt = (std::uint64_t)time_p.sec * 1000 + time_p.nsec * 1e-6;
+            sendObjs.pt.push_back(tt);//发送跟踪后的时间点
 
             m_pub.publish(sendObjs);
             m_pubBoundingBoxes.publish(sendBoxes);