change cnn.

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -158,7 +158,8 @@ void GetLidarObj(std::vector<BBOX3D> &results,iv::lidar::objectarray & lidarobjv
         }
 
 
-        //if (results.at(i).label == 5) continue;
+        std::cout<<" label: "<<results.at(i).label<<"  score: "<<results.at(i).score<<std::endl;
+        if (results.at(i).label == 6) continue;
 
         vector<float>out_detection = results.at(i).detection;
         lidarobj.set_tyaw(out_detection.at(6));

src/detection/detection_lidar_cnn_segmentation/main.cpp

@@ -447,11 +447,12 @@ int main(int argc, char *argv[])
     protofile = xparam.GetParam("prototxt",protofile.data());
     weightfile = xparam.GetParam("caffemodel",weightfile.data());
     gstrinput = xparam.GetParam("input","lidar_pc");
-    gstroutput = xparam.GetParam("output","lidar_cnn_dectect");
+//    gstroutput = xparam.GetParam("output","lidar_cnn_dectect");
+    gstroutput = xparam.GetParam("output","lidar_pointpillar");
 
 //    std::string protofile = "/home/yuchuli/qt/bq/models/lidar/model.prototxt";
 //    std::string weightfile = "/home/yuchuli/qt/bq/models/lidar/model.caffemodel";
-    gcnn.init(protofile,weightfile,60.0,0.6,512,512,false,true,0);
+    gcnn.init(protofile,weightfile,60.0,0.3,512,512,false,true,0);