modify group

src/decition/decition_brain_sf/decition/brain.cpp

@@ -1382,6 +1382,8 @@ void iv::decition::BrainDecition::UpdateGRPCGroupMsg(const char *strdata, const
         return;
     }
 
+    int nvehsize = xgroupinfo.mvehinfo_size();
+
     mMutexGroupgrpc.lock();
     mnGroupgrpcUpdateTime = QDateTime::currentMSecsSinceEpoch();
     mgroupgrpcInfo.CopyFrom(xgroupinfo);

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -225,8 +225,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }
     if((bgroupgrpc==true)&&(ServiceCarStatus.curID>1)){
         for(int i=0;i<xgroupgrpcinfo.mvehinfo_size();i++){
-            if(xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid()+1==ServiceCarStatus.curID){
-                        front_car_id=i;
+            if((xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid()+1)==ServiceCarStatus.curID){
+                        front_car_id=xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid();
             }
         }
     }else{

src/fusion/lidar_radar_fusion_cnn/fusion.hpp

@@ -107,8 +107,8 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             fusion_object.set_yaw(lidar_object_arr.obj(match_idx[i].nlidar).tyaw());
             iv::fusion::VelXY vel_relative;
             iv::fusion::VelXY *vel_relative_;
-            vel_relative.set_x(lidar_object_arr.obj(match_idx[i].nlidar).position().x());
-            vel_relative.set_y(lidar_object_arr.obj(match_idx[i].nlidar).position().y());
+            vel_relative.set_x(0);
+            vel_relative.set_y(2);
             vel_relative_ = fusion_object.mutable_vel_relative();
             vel_relative_->CopyFrom(vel_relative);
 
@@ -155,6 +155,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
         dimension_ = fusion_object.mutable_dimensions();
         dimension_->CopyFrom(dimension);
 
+        if(lidar_object_arr.obj(match_idx[i].nlidar).position().y() > 10 && abs(lidar_object_arr.obj(match_idx[i].nlidar).position().x())<4 ) continue;
         if((lidar_object_arr.obj(match_idx[i].nlidar).dimensions().x()>0)&&
                 (lidar_object_arr.obj(match_idx[i].nlidar).dimensions().y()>0))
         {

src/include/proto/xiali_turnstile.proto

@@ -1,9 +0,0 @@
-syntax = "proto2";
-
-package iv.vision;
-
-message turnstile
-{
-  optional bool state = 1;   //ture表示闸机已开，可通行
-}
-