modify statiton park

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -338,7 +338,7 @@ int main(int argc, char *argv[])
        std::cout<<"use onnx model."<<std::endl;
     pPillars = new PointPillars(
       0.15,
-      0.15,
+      0.10,
       true,
       pfe_file,
       backbone_file,
@@ -350,7 +350,7 @@ int main(int argc, char *argv[])
         std::cout<<"use engine mode."<<std::endl;
     pPillars = new PointPillars(
       0.15,
-      0.15,
+      0.10,
       false,
       pfe_trt_file,
       backbone_trt_file,

src/driver/driver_radar_continental_ARS408_SRR308/cansend_producer.cpp

@@ -89,11 +89,15 @@ void CANSend_Producer::run()
             chasVelocity = chassisVelocity;
             chassisDataLock.unlock();
 
+//            std::cout<<" chasShift : "<<(int)chasShift<<" chasVelocity : "<<chasVelocity<<std::endl;
+
             GPSIMUDataLock.lock();
             gpsVelocity = GPSIMUVelocity;
             gpsYawRate = GPSIMUYawRate;
             GPSIMUDataLock.unlock();
 
+//            std::cout<<" gpsVelocity : "<<gpsVelocity<<" gpsYawRate : "<<gpsYawRate<<std::endl;
+
             if(chasShift == 4)
                 speedDirection = 1; //0 stand 1 forward 2 reverse 3 reserved
             else if(chasShift == 2)

src/fusion/lidar_radar_fusion_cnn_ukf/fusion.hpp

@@ -35,6 +35,7 @@ void Get_AssociationMat(iv::lidar::objectarray& lidar_object_arry,iv::radar::rad
         match_index match;
         match.nlidar = i;
         std::vector<int> fuindex;
+        if(abs(lidar_object_arry.obj(i).centroid().x()) > 10 || lidar_object_arry.obj(i).centroid().y() > 20) continue;
         for(int j =0; j<nradar; j++)
         {
             if(radar_object_array.obj(j).bvalid() == false) continue;
@@ -187,7 +188,6 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
         pobj->CopyFrom(fusion_object);
     }
     for(int j = 0; j< radar_idx.size() ; j++){
-        break;
         iv::fusion::fusionobject fusion_obj;
         fusion_obj.set_yaw(radar_object_array.obj(radar_idx[j]).angle());
         iv::fusion::VelXY vel_relative;