提交数据结构变动

TimeQueueStruct.h

@@ -14,19 +14,10 @@ enum class QueueDataEnum //数据类型的枚举
 
 struct TimeQueueData
 {
-	TimeQueueData()
-	{
-	}
-	~TimeQueueData()
-	{
-	}
 	uint64_t timestamp = 0;//排序的时间
 	QueueDataEnum dataType = QueueDataEnum::QD_NONE;//数据类型
-	union UserData{
-		jfx_common_msgs::det_tracking_array detArray;
-		jfx_common_msgs::InferReses infRes;
-	};
-	UserData data;
+	std::shared_ptr<jfx_common_msgs::det_tracking_array> detArray = nullptr;
+	std::shared_ptr<jfx_common_msgs::InferReses> infReses = nullptr;
 };
 
 

TrackingRosEx.cpp

@@ -400,15 +400,15 @@ void TrackingRos::Init(ros::NodeHandle& nh)
 }
 void TrackingRos::TimeQueueProcess(std::vector< TimeQueueDataPtr>& outs)
 {
-    jfx_common_msgs::det_tracking_array* cloudPtr = nullptr;
-    jfx_common_msgs::InferReses* msg = nullptr;
+    objTrackListPtr cloudPtr = nullptr;
+    std::shared_ptr <jfx_common_msgs::InferReses> msg = nullptr;
     uint64_t timestamp = 0;
     for (auto iter : outs)
     {
         if (iter->dataType == QueueDataEnum::QD_DET_TRACKING_ARRAY)
-            cloudPtr = &(iter->data.detArray);
+            cloudPtr = iter->detArray;
         if (iter->dataType == QueueDataEnum::QD_INFERRESES)
-            msg = &(iter->data.infRes);
+            msg = iter->infReses;
     }
     if (cloudPtr)
     {
@@ -647,13 +647,15 @@ void TrackingRos::TimeQueueProcess(std::vector< TimeQueueDataPtr>& outs)
 
 void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_arrayConstPtr& msg)//接受ros发过来的消息
 {
+    objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
+    objsPtr->array = msg->array;
+    objsPtr->cloud = msg->cloud;
+
     TimeQueueDataPtr tqdPtr = std::make_shared<TimeQueueData>();
-    //objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
     tqdPtr->dataType = QueueDataEnum::QD_DET_TRACKING_ARRAY;
-    tqdPtr->data.detArray.array = msg->array;
-    tqdPtr->data.detArray.cloud = msg->cloud;
+    tqdPtr->detArray = objsPtr;
 
-    tqdPtr->timestamp = (unsigned long long)msg->cloud.header.stamp.sec * 1000000 + (unsigned long long)msg->cloud.header.stamp.nsec * 1e-3;
+    tqdPtr->timestamp = (unsigned long long)msg->cloud.header.stamp.sec * 1000000 + (unsigned long long)msg->cloud.header.stamp.nsec * 1e-3 + 100;
     //SDK_LOG(SDK_INFO, "TrackingCallBackFunc  msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->cloud.header.stamp.sec, msg->cloud.header.stamp.nsec, timestamp);
     m_timeQueue.PushQueueData(tqdPtr);
 
@@ -696,10 +698,13 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
         countBeginC = GetCurTime();
         countC = 0;
     }
+    std::shared_ptr<jfx_common_msgs::InferReses> msgPtr = std::make_shared<jfx_common_msgs::InferReses>();
+    *msgPtr = *msg;
+
     TimeQueueDataPtr tqdPtr = std::make_shared<TimeQueueData>();
     tqdPtr->dataType = QueueDataEnum::QD_INFERRESES;
     tqdPtr->timestamp = (unsigned long long)msg->header.stamp.sec * 1000 + (unsigned long long)msg->header.stamp.nsec * 1e-6;
-    tqdPtr->data.infRes = *msg;
+    tqdPtr->infReses = msgPtr;
 
     m_timeQueue.PushQueueData(tqdPtr);
     //SDK_LOG(SDK_INFO, "msg  msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->header.stamp.sec, msg->header.stamp.nsec, timestamp);