change some code for comppile in jetpack 6.0

sh/shenlan/autodeploy.sh

@@ -0,0 +1,97 @@
+PRO_DIR=`pwd`
+#CONFIG_IVSysMan="IVSysMan_problue.xml"
+
+check_result=`whereis patchelf | awk '{print $2}'`
+if [ ! $check_result ];then
+    echo -e "\e[31m no found patchelf, Plz install patchelf first\e[0m"
+    exit 1
+fi
+
+cd ../../
+
+app_name=(
+controller_changan_shenlan_v2
+decition_brain_sf_changan_shenlan
+laneline_decition_brain_sf_changan_shenlan
+fusion_gpsndt
+fusion_pointcloud_shenlan
+lidar_radar_fusion_cnn
+driver_camera_ioctl
+driver_camera_usb
+driver_can_nvidia_agx
+driver_gps_hcp2
+driver_lidar_leishen32
+driver_lidar_leishen_c16
+driver_lidar_leishen_c16
+driver_service_maintain
+driver_grpc_server
+driver_map_xodrload
+driver_ota_client
+detection_chassis
+detection_lidar_grid
+detection_lidar_ukf_pda
+detection_radar_conti_sr308
+detection_radar_delphi_esr
+adciv_record
+adcndtmultimapping
+bqev_multilidarcalib
+bqev_pcdview
+ivmapmake
+view_ivlog
+map_collectfromveh
+map_lanetoxodr
+picview
+pointcloudviewer
+simple_planning_simulator
+tool_chassis_check
+tool_configivsysman
+tool_config_lidar_leishen
+tool_xodrobj
+view_gps
+view_pcdmap
+view_radar
+ui_ads_hmi
+)
+
+for x in ${app_name[@]}
+do
+	echo "deploy $x"
+	cp ./bin/${x} ./
+	./deploy.sh $x
+	if [ "$?" == 1 ];then
+		exit 1
+	fi
+	rm ${x}
+done
+
+lib_name=(
+	libmodulecomm.so
+	libndt_cpu.so
+	libxmlparam.so
+	libivfault.so
+	libivlog.so
+	libivexit.so
+	libplatformif.so
+)
+
+for x in ${lib_name[@]}
+do
+	echo "link lib $x"
+	patchelf --set-rpath '$ORIGIN' ./bin/$x
+	if [ "$?" != 0 ];then
+		echo -e "\e[31m autodeploy.sh: patchelf $EXE faile, Ensure patchelf tool installed\e[0m"
+		exit 1
+	fi
+done
+
+#echo "creat IVSysMan.xml"
+#cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
+#cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
+#sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
+
+cp ./bin/*.so ./deploy/app/lib/
+
+echo ""
+echo "***************"
+echo "***  done!  ***"
+echo "***************"

sh/shenlan/autogen.sh

@@ -0,0 +1,259 @@
+qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
+#qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
+#qtmake="/opt/Qt5.11.2/5.11.2/gcc_64/bin/qmake"
+show_error=$1
+check_result()
+{
+    if [ "$1" != 0 -a "$show_error" == "s" ];then
+		echo -e "\e[33m*************************************************\e[0m"
+        echo -e "\e[31m    Please modify build error first,Exit!\e[0m"
+		echo -e "\e[33m*************************************************\e[0m"
+ 	    exit 1
+	fi
+}
+
+MAKEOPT=-j8
+
+#mkdir bin
+cd ../../
+
+cd src/include/proto
+sh ./protomake.sh
+cd ../../../
+
+cd src/common/modulecomm/
+$qtmake modulecomm.pro
+check_result $?
+make $MAKEOPT
+check_result $?
+make clean
+cp libmodulecomm.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/xmlparam/
+$qtmake xmlparam.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libxmlparam.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivexit/
+$qtmake ivexit.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libivexit.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ndt_cpu/
+$qtmake ndt_cpu.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libndt_cpu.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivlog/
+$qtmake ivlog.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libivlog.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivfault/
+$qtmake ivfault.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libivfault.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/platformif/
+$qtmake platformif.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libplatformif.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+controller_app_name=(
+	controller_changan_shenlan_v2
+)
+
+for x in ${controller_app_name[@]}
+do
+	cd src/controller/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+decition_app_name=(
+	decition_brain_sf_changan_shenlan
+	laneline_decition_brain_sf_changan_shenlan
+	#decition_brain_ge3
+	#decition_brain_qingyuan
+	#decition_brain_vv7
+)
+
+for x in ${decition_app_name[@]}
+do
+	cd src/decition/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+fusion_app_name=(
+        fusion_gpsndt
+        fusion_pointcloud_shenlan
+        lidar_radar_fusion_cnn
+)
+
+for x in ${fusion_app_name[@]}
+do
+        cd src/fusion/${x}/
+        $qtmake ${x}.pro
+        make $MAKEOPT
+        check_result $?
+        make clean
+        cp ${x} ./../../../bin/
+        rm Makefile
+        rm .qmake.stash
+        rm ${x}
+        cd ../../../
+done
+
+
+driver_app_name=(
+	driver_camera_ioctl
+	driver_camera_usb
+	driver_can_nvidia_agx
+	driver_gps_hcp2
+	driver_lidar_leishen32
+	driver_lidar_leishen_c16
+	driver_lidar_leishen_c16
+	driver_service_maintain
+	driver_grpc_server
+	driver_map_xodrload
+	driver_ota_client
+)
+
+for x in ${driver_app_name[@]}
+do
+	cd src/driver/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+detect_app_name=(
+	detection_chassis
+	detection_lidar_grid
+	detection_lidar_ukf_pda
+	detection_radar_conti_sr308
+	detection_radar_delphi_esr
+)
+
+for x in ${detect_app_name[@]}
+do
+	cd src/detection/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+tool_app_name=(
+	#view_pointcloud
+	adciv_record
+	adcndtmultimapping
+	bqev_multilidarcalib
+	bqev_pcdview
+	ivmapmake
+	view_ivlog
+	map_collectfromveh
+	map_lanetoxodr
+	picview
+	pointcloudviewer
+	simple_planning_simulator
+	tool_chassis_check
+	tool_configivsysman
+	tool_config_lidar_leishen
+	tool_xodrobj
+	view_gps
+	view_pcdmap
+	view_radar
+)
+
+for x in ${tool_app_name[@]}
+do
+	cd src/tool/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+ui_app_name=(
+	ui_ads_hmi
+)
+
+for x in ${ui_app_name[@]}
+do
+	cd src/ui/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+

src/detection/detection_lidar_cnn_segmentation/detection_lidar_cnn_segmentation.pro

@@ -41,13 +41,16 @@ INCLUDEPATH += /usr/include/opencv4
 #INCLUDEPATH += /opt/ros/kinetic/include/opencv-3.3.1-dev
 
 INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/pcl-1.12
 
 
 INCLUDEPATH += /usr/local/cuda-11.4/targets/aarch64-linux/include
 
 LIBS += -L/usr/local/cuda-11.4/targets/aarch64-linux/lib  # -lcublas
 
+LIBS += -L/usr/local/cuda/targets/aarch64-linux/lib
 
+INCLUDEPATH += /usr/local/cuda/targets/aarch64-linux/include
 INCLUDEPATH += /usr/local/cuda-10.2/targets/aarch64-linux/include
 
 LIBS += -lpcl_io -lpcl_common

src/detection/detection_lidar_cnn_segmentation/main.cpp

@@ -302,7 +302,8 @@ void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
     }
     else
     {
-        pcl::PointIndicesPtr valid_idx_ptr = boost::shared_ptr<pcl::PointIndices>(new pcl::PointIndices());
+ //       pcl::PointIndicesPtr valid_idx_ptr = boost::shared_ptr<pcl::PointIndices>(new pcl::PointIndices());
+        pcl::PointIndicesPtr valid_idx_ptr = std::shared_ptr<pcl::PointIndices>(new pcl::PointIndices());
         auto &indices = valid_idx_ptr->indices;
         indices.resize(pc_ptr->size());
         std::iota(indices.begin(), indices.end(), 0);

src/tool/adciv_replay/adciv_replay.xml

@@ -7,7 +7,7 @@
 		<param name="MEMNAME005" value="hmi" />
 		<param name="MEMNAME006" value="platform" />
 		<param name="MEMNAME007" value="radar" />
-		<param name="MEMNAME008" value="canstate" />
+		<param name="MEMNAME008" value="lidar_pc" />
 <!--		<param name="MEMNAME009" value="lidar_pc" />-->
 		<param name="MEMNAME009" value="lidar_obs" />
 		<param name="MEMNAME010" value="cansend" />