debug type

src/fusionDistribTask.cpp

@@ -13,6 +13,7 @@
 #include <sys/socket.h>
 #include <sys/types.h>
 #include <unistd.h>
+#include <cmath>
 
 FusionDistributeTask::FusionDistributeTask()
 {
@@ -181,14 +182,26 @@ void FusionDistributeTask::onLidarData(const jfx_common_msgs::det_tracking_array
         tObjPtr->mLon = obj.Long;
         tObjPtr->mLat = obj.Lat;
         tObjPtr->mAlt = 0;
-        tObjPtr->mHeading = 0;
-        tObjPtr->mSpeed = 0;
+        tObjPtr->mHeading = obj.rot_y;
+        tObjPtr->mSpeed = sqrt(pow(obj.v_x, 2) + pow(obj.v_y, 2) + pow(obj.v_z, 2));
         tObjPtr->mLength = obj.l;
         tObjPtr->mWidth = obj.w;
         tObjPtr->mHeight = obj.h;
         tObjPtr->mXPos = obj.x;
         tObjPtr->mYPos = obj.y;
-        tObjPtr->mTypeStr = obj.name;
+        if ("person" == obj.name) {
+          tObjPtr->mTypeStr = "Person";
+        } else if ("car" == obj.name) {
+            tObjPtr->mTypeStr = "Car";
+        } else if ("bus" == obj.name) {
+            tObjPtr->mTypeStr = "Bus";
+        } else if ("truck" == obj.name) {
+            tObjPtr->mTypeStr = "Truck";
+        } else if ("motorbike" == obj.name) {
+            tObjPtr->mTypeStr = "Motorbike";
+        } else {
+            tObjPtr->mTypeStr = "UnKnown";
+        }
         tObjPtr->mSubType = 0;
 
         mBufTrafficObjListMutex.lock();