modify

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -161,7 +161,12 @@ 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));
+        yaw = -yaw;
+        lidarobj.set_tyaw(yaw);
         iv::lidar::PointXYZ centroid;
         iv::lidar::PointXYZ * _centroid;
         centroid.set_x(out_detection.at(0));

src/fusion/lidar_radar_fusion_cnn/fusion.hpp

@@ -132,7 +132,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
 
         }else {
 //             std::cout<<"   fusion    is    ok  "<<std::endl;
-            fusion_object.set_yaw(radar_object_array.obj(match_idx.at(i).nradar).angle());
+            fusion_object.set_yaw(lidar_object_arr.obj(match_idx[i].nlidar).tyaw());
             fusion_object.set_lifetime(radar_object_array.obj(match_idx.at(i).nradar).has_bridge_object());
 
             iv::fusion::VelXY vel_relative;