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TrackingRos.cpp

@@ -23,7 +23,7 @@ float to360(float rot_y,float lidar_x_angle)
     //SDK_LOG(SDK_INFO, "rot_y = %f, angle = %f", rot_y, angle);
     float tmp_angle = 0.0f;
     float car_angle = angle / _PI_ * 180.0f;
-    tmp_angle = car_angle - lidar_x_angle;
+    tmp_angle =  lidar_x_angle - car_angle;
     //SDK_LOG(SDK_INFO, "car_angle = %f, tmp_angle = %f,lidar_x_angle = %f", car_angle, tmp_angle, lidar_x_angle);
     tmp_angle += 360;
     while (tmp_angle > 360)
@@ -109,10 +109,6 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     memcpy(m, f, sizeof(float) * 4);
 
     SDK_LOG(SDK_INFO, "data = %f,%f,%f,%f", m[0], m[1], m[2], m[3]);
-
-    float rot_y = 1.427666;
-    float rot_y_a = to360(rot_y, m_lidar_x_angle);
-
 }
 
 void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_arrayConstPtr& msg)//接受ros发过来的消息
@@ -282,9 +278,7 @@ void TrackingRos::ThreadTrackingProcess()
                 //修正rot_y值,变为角度
                 float rot_y_angle = obj.rot_y;
                 obj.rot_y = to360(obj.rot_y, m_lidar_x_angle);
-                float rot_y_a = obj.rot_y / 180 * 3.14159265;
                 //SDK_LOG(SDK_INFO, "rot_y = %f, rot_y_angle = %f", rot_y_angle, rot_y_a);
-                rot_y_angle = rot_y_a;
 
                 jsk_recognition_msgs::BoundingBox box = {};
                 box.label = obj.obj_id;