modify lidar

src/decition/decition_brain_sf_jsrunlegs_new/decition/decide_gps_00.cpp

@@ -1934,7 +1934,7 @@ static int file_num;
     }
 
     //shiyanbizhang 0929
-    if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>0.1)//&& (avoid_speed_flag==true)        //
+    if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>0.1) && ((PathPoint+500) < gpsMapLine.size())//&& (avoid_speed_flag==true)        //
             &&(vehState==normalRun||vehState==backOri || vehState==avoiding) //&&(ObsTimeStart==-1)
             && (gpsMapLine[PathPoint]->runMode==1)&& (road_permit_avoid==true)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
 //        ObsTimeStart=GetTickCount();

src/detection/detection_ground_filter/main.cpp

@@ -2,7 +2,7 @@
 #include "modulecomm.h"
 #include "base_segmenter.hpp"
 #include "ground_plane_fitting_segmenter.hpp"
-void * gpoint_out= iv::modulecomm::RegisterSend("lidar_pc",20000000,1);
+void * gpoint_out= iv::modulecomm::RegisterSend("lidar_pc_out",20000000,1);
 std::unique_ptr<lidar::segmenter::BaseSegmenter> ground_remover_;
 std::unique_ptr<lidar::segmenter::BaseSegmenter> segmenter_;
 
@@ -90,7 +90,7 @@ int main(int argc, char *argv[])
     params.gpf_th_gnds = 0.3;
     ground_remover_ = std::unique_ptr<lidar::segmenter::BaseSegmenter>(
         new lidar::segmenter::GroundPlaneFittingSegmenter(params));
-    gpoint = iv::modulecomm::RegisterRecv("lidar_pc_in",ListenPointCloud);
+    gpoint = iv::modulecomm::RegisterRecv("lidar_pc",ListenPointCloud);
 
     return a.exec();
 }

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -698,7 +698,7 @@ int main(int argc, char *argv[])
     iv::xmlparam::Xmlparam xparam(strpath.toStdString());
     pfe_file = xparam.GetParam("pfe_file",pfe_file.data());
     backbone_file = xparam.GetParam("backbone_file",backbone_file.data());
-    gstrinput = xparam.GetParam("input","lidar_pc_in");
+    gstrinput = xparam.GetParam("input","lidar_pc");
     gstroutput = xparam.GetParam("output","lidar_pointpillar");
 
     if(btrtexist == false)

src/detection/detection_lidar_grid/perception_lidar_vv7.cpp

@@ -704,7 +704,7 @@ int main(int argc, char *argv[])
 
     snprintf(gstr_sensorheight,255,"1.60");
     snprintf(gstr_vehicleheight,255,"1.80");
-    snprintf(gstr_inputmemname,255,"lidar_pc");
+    snprintf(gstr_inputmemname,255,"lidar_pc_out");
     snprintf(gstr_outputmemname,255,"grid_fusion");
     snprintf(gstr_skipxmin,255,"-0.5");
     snprintf(gstr_skipxmax,255,"0.5");

src/driver/driver_lidar_rs32/main.cpp

@@ -175,7 +175,7 @@ int main(int argc, char *argv[])
     showversion("driver_lidar_rs32");
     QCoreApplication a(argc, argv);
 
-    snprintf(gstr_memname,255,"lidar_pc_in");
+    snprintf(gstr_memname,255,"lidar_pc");
     snprintf(gstr_rollang,255,"-9.0");
     snprintf(gstr_inclinationang_xaxis,255,"0.0");
     snprintf(gstr_inclinationang_yaxis,255,"0");