modify radar pro

src/decition/common/perception_sf/sensor_radar.cpp

@@ -29,7 +29,7 @@ iv::perception::RadarSensor::RadarSensor() {
 
     iv::perception::gRadar = this;
 
-    mparadar = iv::modulecomm::RegisterRecv(gstrmemradar.data(),iv::perception::ListenRadar);
+//    mparadar = iv::modulecomm::RegisterRecv(gstrmemradar.data(),iv::perception::ListenRadar);
 //    mparadar = new adcmemshare("radar",10*sizeof(iv::ObstacleBasic)*64,10);
 //    mparadar->listenmsg(iv::perception::ListenRadar);
 }

src/fusion/lidar_radar_fusion_cnn_ukf/fusion.hpp

@@ -111,12 +111,12 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
                    lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y() > 18)
             {
 
-//                fusion_object.set_yaw(lidar_object_arr.obj(match_idx[i].nlidar).tyaw());
-//                if(abs(lidar_object_arr.obj(match_idx[i].nlidar).tyaw()) >=0.785)
+                fusion_object.set_yaw(lidar_object_arr.obj(match_idx[i].nlidar).tyaw());
+                if(abs(lidar_object_arr.obj(match_idx[i].nlidar).tyaw()) >=0.785)
                     fusion_object.set_yaw(1.57);
-//                else if (abs(lidar_object_arr.obj(match_idx[i].nlidar).tyaw()) <0.785){
-//                    fusion_object.set_yaw(0.3);
-//                }
+                else if (abs(lidar_object_arr.obj(match_idx[i].nlidar).tyaw()) <0.785){
+                    fusion_object.set_yaw(0.3);
+                }
 
 
             } else {
@@ -174,13 +174,22 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
 
         iv::fusion::Dimension dimension;
         iv::fusion::Dimension *dimension_;
-        dimension.set_x(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x());
-        dimension.set_y(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y());
+        if(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x() > lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y())
+        {
+            dimension.set_x(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x());
+            dimension.set_y(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y());
+
+        } else {
+            dimension.set_x(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y());
+            dimension.set_y(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x());
+
+        }
+
         dimension.set_z(lidar_object_arr.obj(match_idx[i].nlidar).dimensions().z());
         dimension_ = fusion_object.mutable_dimensions();
         dimension_->CopyFrom(dimension);
 
-//        std::cout<<" x     y    z:   "<<lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x()<<"     "<<lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y()<<std::endl;
+        std::cout<<" x     y    z:   "<<lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x()<<"     "<<lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y()<<std::endl;