update fusion2

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -193,10 +193,11 @@ void GetLidarObj(std::vector<BBOX3D> &results,iv::lidar::objectarray & lidarobjv
         _position = lidarobj.mutable_position();
         _position->CopyFrom(position);
         lidarobj.set_mntype(results.at(i).label);
-        // label 2  8
+//        std::cout<<"       "<<position.x()<<", "<<position.y()<<" "<<results.at(i).label<<" "<<results.at(i).score<<std::endl;
+        // label 2  5
         if(results.at(i).label==2){
-            lidarobj.set_mntype(8);
-        }else if(results.at(i).label==8){
+            lidarobj.set_mntype(5);
+        }else if(results.at(i).label==5){
             lidarobj.set_mntype(2);
         }
         lidarobj.set_score(results.at(i).score);
@@ -383,10 +384,11 @@ void GetLidarObj(std::vector<float> out_detections,std::vector<int> out_labels,
         _position = lidarobj.mutable_position();
         _position->CopyFrom(position);
         lidarobj.set_mntype(out_labels.at(i));
-        // label 2  8
+        std::cout<<"       "<<position.y()<<" "<<out_labels.at(i)<<std::endl;
+        // label 2  5
         if(out_labels.at(i)==2){
-            lidarobj.set_mntype(8);
-        }else if(out_labels.at(i)==8){
+            lidarobj.set_mntype(5);
+        }else if(out_labels.at(i)==5){
             lidarobj.set_mntype(2);
         }
         lidarobj.set_score(out_scores.at(i));

src/fusion/lidar_radar_fusion_cnn/fusion.hpp

@@ -122,7 +122,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             vel_relative.set_x(lidar_object_arr.obj(match_idx[i].nlidar).vel_relative().x());
             vel_relative.set_y(lidar_object_arr.obj(match_idx[i].nlidar).vel_relative().y());
             fusion_object.set_velocity_linear_x(-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x());
-            std::cout<<"lidar: "<<-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x()<<std::endl;
+//            std::cout<<"lidar: "<<-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x()<<std::endl;
 
             vel_relative_ = fusion_object.mutable_vel_relative();
             vel_relative_->CopyFrom(vel_relative);
@@ -134,6 +134,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             centroid.set_z(lidar_object_arr.obj(match_idx[i].nlidar).centroid().z());
             centroid_ = fusion_object.mutable_centroid();
             centroid_->CopyFrom(centroid);
+//             std::cout<<"lidar: "<<centroid.y()<<" "<<fusion_object.type()<<std::endl;
 #ifdef DEBUG_SHOW
             std::cout<<"lidar: "<<centroid.x()<<","<<centroid.y()<<","<<centroid.z()<<std::endl;
 #endif
@@ -147,10 +148,10 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             vel_relative.set_x(radar_object_array.obj(match_idx.at(i).nradar).vx());
             vel_relative.set_y(radar_object_array.obj(match_idx.at(i).nradar).vy());
             fusion_object.set_velocity_linear_x(radar_object_array.obj(match_idx.at(i).nradar).vy());
-            std::cout<<"lidar: "<<-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x()<<"     radar: "<<radar_object_array.obj(match_idx.at(i).nradar).vy()<<std::endl;
+//            std::cout<<"lidar: "<<-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x()<<"     radar: "<<radar_object_array.obj(match_idx.at(i).nradar).vy()<<std::endl;
 //            vel_relative.set_x(lidar_object_arr.obj(match_idx[i].nlidar).vel_relative().x());
 //            vel_relative.set_y(lidar_object_arr.obj(match_idx[i].nlidar).vel_relative().y());
-            std::cout<<"radar: "<<radar_object_array.obj(match_idx.at(i).nradar).vx()<<","<<radar_object_array.obj(match_idx.at(i).nradar).vy()<<std::endl;
+//            std::cout<<"radar: "<<radar_object_array.obj(match_idx.at(i).nradar).vx()<<","<<radar_object_array.obj(match_idx.at(i).nradar).vy()<<std::endl;
             vel_relative_ = fusion_object.mutable_vel_relative();
             vel_relative_->CopyFrom(vel_relative);
 
@@ -158,7 +159,6 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             iv::fusion::VelXY *vel_abs_;
             vel_abs.set_x(radar_object_array.obj(match_idx.at(i).nradar).vx());
             vel_abs.set_y(radar_object_array.obj(match_idx.at(i).nradar).vy());
-            std::cout<<"lidar: "<<-lidar_object_arr.obj(match_idx[i].nlidar).velocity_linear_x()<<std::endl;
 
             vel_abs_ = fusion_object.mutable_vel_abs();
             vel_abs_->CopyFrom(vel_abs);
@@ -170,6 +170,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
             centroid.set_z(lidar_object_arr.obj(match_idx[i].nlidar).centroid().z());
             centroid_ = fusion_object.mutable_centroid();
             centroid_->CopyFrom(centroid);
+//            std::cout<<"radar: "<<centroid.y()<<std::endl;
 #ifdef DEBUG_SHOW
             std::cout<<"radar: "<<centroid.x()<<","<<centroid.y()<<","<<centroid.z()<<std::endl;
 #endif
@@ -210,7 +211,7 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
         centroid.set_z(1.0);
         centroid_ = fusion_obj.mutable_centroid();
         centroid_->CopyFrom(centroid);
-
+//std::cout<<"radar>50: "<<centroid.y()<<std::endl;
         iv::fusion::Dimension dimension;
         iv::fusion::Dimension *dimension_;
         dimension.set_x(0.5);