modify sensor fusion

src/decition/decition_brain_sf/decition/brain.cpp

@@ -683,8 +683,16 @@ void iv::decition::BrainDecition::run() {
 
 //            iv::LidarGridPtr templidar= obs_lidar_grid_;
 
+            iv::LidarGridPtr  templidar;
+            if (fusion_ptr_ != NULL)
+            {
+                if(templidar != NULL) free(templidar);
+                templidar = fusion_ptr_;
+            }
+            fusion_ptr_ =NULL;
+
 
-            iv::LidarGridPtr  templidar = fusion_ptr_;
+//            iv::LidarGridPtr  templidar = fusion_ptr_;
 
 
             if(templidar == NULL)templidar = old_obs_lidar_grid_;