change view_ndtmatching.

src/tool/view_ndtmatching/main.cpp

@@ -38,7 +38,7 @@ void LoadCameraPos(QString strpath)
     gfcustom_view_y = xparam.GetParam("custom_view_y",0.0);
     gfcustom_view_z = xparam.GetParam("custom_view_z",0.0);
     gfcustom_yawrotate = xparam.GetParam("custom_yawrotate",0.0) *M_PI/180.0;
-    gbShowCNN = xparam.GetParam("ShowCNN",false);
+    gbShowCNN = xparam.GetParam("ShowCNN",true);
 }
 
 int main(int argc, char *argv[])

src/tool/view_ndtmatching/mainwindow.cpp

@@ -335,10 +335,11 @@ void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
             {
                 iv::lidar::lidarobject * pobj = xlidarobjarray.mutable_obj(j);
                 double fobjpos_x,fobjpos_y,fobjpos_z;
-                fobjpos_x = gCurPose.x + pobj->position().x() * cos(gCurPose.yaw) - pobj->position().y() * sin(gCurPose.yaw);
-                fobjpos_y = gCurPose.y + pobj->position().x() * sin(gCurPose.yaw) - pobj->position().y() * cos(gCurPose.yaw);
+                double frot_yaw = gCurPose.yaw - M_PI/2.0;
+                fobjpos_x = gCurPose.x + pobj->position().x() * cos(frot_yaw) - pobj->position().y() * sin(frot_yaw);
+                fobjpos_y = gCurPose.y + pobj->position().x() * sin(frot_yaw) + pobj->position().y() * cos(frot_yaw);
                 fobjpos_z = pobj->position().z();
-                double fobj_yaw = gCurPose.yaw + pobj->tyaw();
+                double fobj_yaw = gCurPose.yaw + pobj->tyaw() - M_PI/2.0;
                 char strname[256];
                 snprintf(strname,256,"obj%d",j);
                 std::string strobjname = strname;