modify fusion

src/common/modulecomm/modulecomm.pro

@@ -16,7 +16,7 @@ unix:system("./../../../include/linuxsystemtest.sh ")
 unix:include(./../../../include/systemdef.pri)
 win32: DEFINES += SYSTEM_WIN
 
-DEFINES += USE_GROUPUDP
+# DEFINES += USE_GROUPUDP
 
 if(contains(DEFINES,USE_GROUPUDP)){
 QT += network

src/controller/controller_rubshCar/main.cpp

@@ -59,7 +59,7 @@ void executeDecition(const iv::brain::decition decition)
     if(decition.has_gear())
     {
         gcontroller->control_gear_en(true);
-        gcontroller->control_gear(decition.gear());
+        gcontroller->control_gear(decition.gear()|0x80);
         bHasGearCmd = true;
     }
     if(decition.has_wheelangle())
@@ -318,7 +318,7 @@ int main(int argc, char *argv[])
 
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-    gstrmemcansend = xp.GetParam("cansend","cansend0");
+    gstrmemcansend = xp.GetParam("cansend","cansend0_31A10001226");
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmemchassis = xp.GetParam("chassismsgname","chassis");
 

src/detection/detection_lidar_ukf_pda/imm_ukf_pda.cpp

@@ -696,7 +696,7 @@ void ImmUkfPda::makeOutput(const iv::lidar::objectarray & input,
 
 //    }
 
-    std::cout<<"          v     tyaw :      "<<tv<<"  "   <<tyaw<<std::endl;
+//    std::cout<<"          v     tyaw :      "<<tv<<"  "   <<tyaw<<std::endl;
 
     while (tyaw > M_PI)
       tyaw -= 2. * M_PI;
@@ -901,7 +901,7 @@ void ImmUkfPda::tracker(const iv::lidar::objectarray & input,
       for(j=0;j<detected_objects_output.obj_size();j++)
       {
       iv::lidar::lidarobject obj = detected_objects_output.obj(j);
-      std::cout<<"obj "<<j<< " vel is "<<obj.velocity_linear_x()<<" id is "<<obj.id()<<std::endl;
+//      std::cout<<"obj "<<j<< " vel is "<<obj.velocity_linear_x()<<" id is "<<obj.id()<<std::endl;
 
       }
   }

src/fusion/fusion_pointcloud_bus/lidarmerge.cpp

@@ -20,7 +20,6 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr mergefunc(std::vector<iv::lidar_data> xvect
     point_cloud->header.seq =g_seq;
     g_seq++;
 
-
     int i,j;
     for(i=0;i<xvectorlidar.size();i++)
     {

src/fusion/lidar_radar_fusion_cnn/fusion.hpp

@@ -261,8 +261,8 @@ void ObsToNormal(iv::fusion::fusionobjectarray& lidar_radar_fusion_object_array)
 {
     for(int i = 0; i < lidar_radar_fusion_object_array.obj_size(); i++)
     {
-        if((lidar_radar_fusion_object_array.obj(i).sensor_type() == 0) &&(lidar_radar_fusion_object_array.obj(i).centroid().y() > 20 || abs(lidar_radar_fusion_object_array.obj(i).centroid().x())>10) ) continue;
-        if ((lidar_radar_fusion_object_array.obj(i).sensor_type() == 0)&&(lidar_radar_fusion_object_array.obj(i).centroid().y()>10 && abs(lidar_radar_fusion_object_array.obj(i).centroid().x())<1.3)) continue;
+//        if((lidar_radar_fusion_object_array.obj(i).sensor_type() == 0) &&(lidar_radar_fusion_object_array.obj(i).centroid().y() > 20 || abs(lidar_radar_fusion_object_array.obj(i).centroid().x())>10) ) continue;
+//        if ((lidar_radar_fusion_object_array.obj(i).sensor_type() == 0)&&(lidar_radar_fusion_object_array.obj(i).centroid().y()>10 && abs(lidar_radar_fusion_object_array.obj(i).centroid().x())<1.3)) continue;
         if((lidar_radar_fusion_object_array.obj(i).sensor_type() == 0)&&(lidar_radar_fusion_object_array.obj(i).centroid().y() <1.0  && abs(lidar_radar_fusion_object_array.obj(i).centroid().x())<1.3)) continue;
 
         if((lidar_radar_fusion_object_array.obj(i).dimensions().x()>0)&&

src/fusion/lidar_radar_fusion_cnn/main.cpp

@@ -127,9 +127,9 @@ void datafusion(iv::lidar::objectarray& lidar_obj,iv::radar::radarobjectarray& r
 
     //    li_ra_fusion.Clear();
     //      std::cout<<" RLFusion     begin    "<<std::endl;
-    AddMobileye(li_ra_fusion,mobileye_info);
+//    AddMobileye(li_ra_fusion,mobileye_info);
     //    std::cout<<" RLFusion     end      "<<std::endl;
-    mobileye_info.clear_xobj();
+//    mobileye_info.clear_xobj();
     //        std::cout<< "     fusion size  "<<li_ra_fusion.obj_size()<<std::endl;
     //    for(int i=0;i<li_ra_fusion.obj_size();i++)
     //    {
@@ -214,7 +214,7 @@ int main(int argc, char *argv[])
 
     void *gpa;
     gpa = iv::modulecomm::RegisterRecv("radar",Listenesrfront);
-    gpa = iv::modulecomm::RegisterRecv("lidar_pointpillar",Listenlidarcnndetect);
+    gpa = iv::modulecomm::RegisterRecv("lidar_track",Listenlidarcnndetect);
     gpa = iv::modulecomm::RegisterRecv("mobileye",Listenmobileye);
     return a.exec();
 }