change some code for orin.

src/common/ndt_cpu/ndt_cpu.pro

@@ -25,6 +25,7 @@ unix:INCLUDEPATH += /usr/include/pcl-1.8
 unix:INCLUDEPATH += /usr/include/pcl-1.7
 
 unix:INCLUDEPATH += /usr/include/pcl-1.12
+unix:INCLUDEPATH += /usr/include/pcl-1.10
 
 
 #PKGCONFIG +=pcl

src/common/ndt_gpu/ndt_gpu.pro

@@ -24,6 +24,7 @@ SOURCES +=  \
 #INCLUDEPATH += /home/nvidia/eigentem
 unix:INCLUDEPATH += /usr/include/eigen3
 unix:INCLUDEPATH += /usr/include/pcl-1.8
+unix:INCLUDEPATH += /usr/include/pcl-1.10
 
 unix:LIBS += -lboost_thread -lboost_system
 
@@ -54,9 +55,9 @@ LIBS += -L"/usr/local/lib" \
         -lcudart \
         -lcufft
 
-CUDA_SDK = "/usr/local/cuda-10.2/"   # cudaSDK路径
+CUDA_SDK = "/usr/local/cuda/"   # cudaSDK路径
 
-CUDA_DIR = "/usr/local/cuda-10.2/"            # CUDA tookit路径
+CUDA_DIR = "/usr/local/cuda/"            # CUDA tookit路径
 
 SYSTEM_NAME = linux         # 自己系统环境 'Win32', 'x64', or 'Win64'
 

src/detection/detection_ndt_matching_gpu_multi/detection_ndt_matching_gpu_multi.pro

@@ -43,12 +43,15 @@ INCLUDEPATH += /opt/ros/kinetic/include
 INCLUDEPATH += /usr/include/pcl-1.8
 INCLUDEPATH += /usr/include/pcl-1.7
 INCLUDEPATH += /usr/include/eigen3
+unix:INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /opt/ros/noetic/include
 
 INCLUDEPATH += $$PWD/../../include/msgtype/
 
 INCLUDEPATH += /usr/local/cuda-10.0/targets/aarch64-linux/include
 INCLUDEPATH += /usr/local/cuda-10.2/targets/aarch64-linux/include
 INCLUDEPATH += /usr/local/cuda-10.2/targets/x86_64-linux/include
+INCLUDEPATH += /usr/local/cuda/targets/aarch64-linux/include
 
 DEFINES += CUDA_FOUND
 

src/detection/detection_ndt_matching_gpu_multi/main.cpp

@@ -517,7 +517,7 @@ int main(int argc, char *argv[])
    iv::xmlparam::Xmlparam xparam(strpath.toStdString());
 
    gstr_lidarmsgname = xparam.GetParam("lidarmsg","lidar_pc");
-   gstr_gpsmsgname = xparam.GetParam("gpsmsg","ins550d_gpsimu");
+   gstr_gpsmsgname = xparam.GetParam("gpsmsg","hcp2_gpsimu");
    gstr_ndtposmsgname = xparam.GetParam("ndtposmsg","ndtpos");
    gstr_ndtgpsposmsgname = xparam.GetParam("ndtgpsposmsg","ndtgpspos");
    gstr_ndtmainsensormsgname = xparam.GetParam("mainsensor","gps");

src/detection/detection_ndt_matching_gpu_multi/ndt_matching.cpp

@@ -450,6 +450,7 @@ static void getmindistrace(int & index, double & ftracedis)
     else
     {
         index = -1;
+        ftracedis = 100000.0;
     }
 }
 
@@ -531,7 +532,7 @@ void LocalMapUpdate(int n)
     {
 
         getmindistrace(index,ftracedis);
-//        std::cout<<"trace dis is "<<ftracedis<<std::endl;
+
         if(g_hasmap == false)
         {
 
@@ -562,10 +563,12 @@ void LocalMapUpdate(int n)
 
         if(ftracedis > 50)
         {
+            std::cout<<std::chrono::system_clock::now().time_since_epoch().count()/1000000<<" trace dis is "<<ftracedis<<std::endl;
             std::cout<<" Out Range."<<std::endl;
             g_hasmap = false;
         }
 
+
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 }
@@ -1224,6 +1227,7 @@ void point_ndt(pcl::PointCloud<pcl::PointXYZ>::Ptr raw_scan)
     if(gbgpsupdatendt == true)
     {
 
+        std::cout<<std::chrono::system_clock::now().time_since_epoch().count()/1000000<<" update ndt pos use gps pos. "<<std::endl;
         gcurndtgpspos = gcurgpsgpspos;
         gbgpsupdatendt = false;
         gbNeedGPSUpdateNDT = false;
@@ -1352,7 +1356,7 @@ void point_ndt(pcl::PointCloud<pcl::PointXYZ>::Ptr raw_scan)
     old_scan_time = current_scan_time;
 
     if(diff_time<=0)diff_time = 0.1;
-    if(diff_time>1.0)diff_time = 1.0;
+    if(diff_time>1.0)diff_time = 0.1;
 
 //    std::cout<<"diff time is "<<diff_time<<std::endl;
 
@@ -1411,6 +1415,8 @@ void point_ndt(pcl::PointCloud<pcl::PointXYZ>::Ptr raw_scan)
           predict_pose_for_ndt = predict_pose;
       }
 
+      predict_pose_for_ndt = predict_pose; //not use predict_pose_imu in shelan.
+
       if(fabs(predict_pose_for_ndt.x -previous_pose.x)>10)
       {
           predict_pose_for_ndt = previous_pose;

src/tool/adcndtmultimapping/adcndtmultimapping.pro

@@ -11,6 +11,8 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
 TARGET = adcndtmultimapping
 TEMPLATE = app
 
+CONFIG += c++14
+
 # The following define makes your compiler emit warnings if you use
 # any feature of Qt which has been marked as deprecated (the exact warnings
 # depend on your compiler). Please consult the documentation of the
@@ -55,9 +57,11 @@ FORMS += \
 
 
 INCLUDEPATH += /opt/ros/melodic/include
+INCLUDEPATH += /opt/ros/noetic/include
 INCLUDEPATH += /usr/include/pcl-1.8
 INCLUDEPATH += /usr/include/eigen3
 unix:INCLUDEPATH += /usr/include/pcl-1.12
+unix:INCLUDEPATH += /usr/include/pcl-1.10
 
 #INCLUDEPATH += /usr/include/qwt
 

src/tool/bqev_pcdview/bqev_pcdview.pro

@@ -11,6 +11,8 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
 TARGET = bqev_pcdview
 TEMPLATE = app
 
+CONFIG += c++14
+
 
 # The following define makes your compiler emit warnings if you use
 # any feature of Qt which has been marked as deprecated (the exact warnings

src/tool/view_pcdmap/view_pcdmap.pro

@@ -1,6 +1,6 @@
 QT -= gui
 
-CONFIG += c++11 console
+CONFIG += c++14 console
 CONFIG -= app_bundle
 
 QMAKE_LFLAGS += -no-pie
@@ -22,10 +22,12 @@ SOURCES += main.cpp
 
 INCLUDEPATH += /opt/ros/kinetic/include
 INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/pcl-1.10
 INCLUDEPATH += /usr/include/pcl-1.7
 INCLUDEPATH += /usr/include/eigen3
 INCLUDEPATH += /usr/include/vtk-6.3
 INCLUDEPATH += /usr/include/vtk-6.2
+INCLUDEPATH += /usr/include/vtk-7.1
 
 unix:LIBS +=  -lpcl_common\
         -lpcl_features\
@@ -52,3 +54,6 @@ unix:LIBS +=  -lpcl_common\
 LIBS += -lboost_system
 #LIBS += -lvtkCommonExecutionModel-6.3 -lvtkCommonCore-6.3 -lvtkRenderingLOD-6.3 -lvtkRenderingCore-6.3 \
 #        -lvtkFiltersSources-6.3
+
+#LIBS += -lvtkCommonExecutionModel-7.1 -lvtkCommonCore-7.1 -lvtkRenderingLOD-7.1 -lvtkRenderingCore-7.1 \
+#        -lvtkFiltersSources-7.1