”modify“

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -162,7 +162,10 @@ void GetLidarObj(std::vector<BBOX3D> &results,iv::lidar::objectarray & lidarobjv
         //if (results.at(i).label == 5) continue;
 
         vector<float>out_detection = results.at(i).detection;
-        lidarobj.set_tyaw(out_detection.at(6));
+        float yaw = out_detection.at(6);
+        yaw += M_PI / 2;
+        yaw = std::atan2(sinf(yaw),cosf(yaw));
+        lidarobj.set_tyaw(yaw);
         iv::lidar::PointXYZ centroid;
         iv::lidar::PointXYZ * _centroid;
         centroid.set_x(out_detection.at(0));