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v_cloud_cluster.at(obj_indices.at(i)).bounding_box.label = 0;\n     } else if (object_type == \"person\") {\n-      v_cloud_cluster_current.at(obj_indices.at(i)).bounding_box.label = 1;\n+      v_cloud_cluster.at(obj_indices.at(i)).bounding_box.label = 1;\n     } else {\n-      v_cloud_cluster_current.at(obj_indices.at(i)).bounding_box.label = 2;\n-      v_cloud_cluster_current.at(obj_indices.at(i)).label = \"unknown\";\n+      v_cloud_cluster.at(obj_indices.at(i)).bounding_box.label = 2;\n+      v_cloud_cluster.at(obj_indices.at(i)).label = \"unknown\";\n+    }\n+\n+    jsk_recognition_msgs::BoundingBox bounding_box;\n+    bounding_box = v_cloud_cluster.at(obj_indices.at(i)).bounding_box;\n+\n+    /* adjust object rotation using lane in vector_map */\n+    tf::Quaternion q_obj(bounding_box.pose.orientation.x,\n+      bounding_box.pose.orientation.y,\n+      bounding_box.pose.orientation.z,\n+      bounding_box.pose.orientation.w);\n+    bool fixed_rotation = false;\n+    if (use_vmap) {","path":"ros/src/computing/perception/detection/packages/lidar_tracker/nodes/obj_fusion/obj_fusion.cpp","position":217,"original_position":217,"commit_id":"8d05bdaf8f345078fb3fb879a317fe2d919ebc4f","original_commit_id":"8d05bdaf8f345078fb3fb879a317fe2d919ebc4f","user":{"login":"dejanpan","id":17376,"avatar_url":"https://avatars1.githubusercontent.com/u/17376?v=4","gravatar_id":"","url":"https://api.github.com/users/dejanpan","html_url":"https://github.com/dejanpan","followers_url":"https://api.github.com/users/dejanpan/followers","following_url":"https://api.github.com/users/dejanpan/following{/other_user}","gists_url":"https://api.github.com/users/dejanpan/gists{/gist_id}","starred_url":"https://api.github.com/users/dejanpan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dejanpan/subscriptions","organizations_url":"https://api.github.com/users/dejanpan/orgs","repos_url":"https://api.github.com/users/dejanpan/repos","events_url":"https://api.github.com/users/dejanpan/events{/privacy}","received_events_url":"https://api.github.com/users/dejanpan/received_events","type":"User","site_admin":false},"body":"what will happen is use_vmap = false?","created_at":"2017-08-02T06:58:36Z","updated_at":"2017-08-02T07:02:38Z","html_url":"https://github.com/CPFL/Autoware/pull/749#discussion_r130799068","pull_request_url":"https://api.github.com/repos/CPFL/Autoware/pulls/749","_links":{"self":{"href":"https://api.github.com/repos/CPFL/Autoware/pulls/comments/130799068"},"html":{"href":"https://github.com/CPFL/Autoware/pull/749#discussion_r130799068"},"pull_request":{"href":"https://api.github.com/repos/CPFL/Autoware/pulls/749"}}},"pull_request":{"url":"https://api.github.com/repos/CPFL/Autoware/pulls/749","id":132943353,"html_url":"https://github.com/CPFL/Autoware/pull/749","diff_url":"https://github.com/CPFL/Autoware/pull/749.diff","patch_url":"https://github.com/CPFL/Autoware/pull/749.patch","issue_url":"https://api.github.com/repos/CPFL/Autoware/issues/749","number":749,"state":"open","locked":false,"title":"Add 'use_vmap' mode in obj_fusion","user":{"login":"aohsato","id":1531482,"avatar_url":"https://avatars2.githubusercontent.com/u/1531482?v=4","gravatar_id":"","url":"https://api.github.com/users/aohsato","html_url":"https://github.com/aohsato","followers_url":"https://api.github.com/users/aohsato/followers","following_url":"https://api.github.com/users/aohsato/following{/other_user}","gists_url":"https://api.github.com/users/aohsato/gists{/gist_id}","starred_url":"https://api.github.com/users/aohsato/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aohsato/subscriptions","organizations_url":"https://api.github.com/users/aohsato/orgs","repos_url":"https://api.github.com/users/aohsato/repos","events_url":"https://api.github.com/users/aohsato/events{/privacy}","received_events_url":"https://api.github.com/users/aohsato/received_events","type":"User","site_admin":false},"body":"## Status\r\n**DEVELOPMENT**\r\n\r\n## Description\r\nAdded 'use_vmap' mode, adjusting orientations of object along the nearest lane. #750\r\nThis mode needs vector_map_server.\r\n( implemented with @kuriking )\r\n\r\n## Todos\r\n- [ ] Tests\r\n- [ ] Documentation\r\n\r\n## Steps to Test or Reproduce\r\n### Launch \r\n```\r\n$ rosrun vector_map_server vector_map_server\r\n$ roslaunch lidar_tracker obj_fusion.launch\r\n```\r\n### Rviz\r\n- Bounding box of tracked objects\r\n  - topic: /obj_(car|person)/obj_pose\r\n  - type: jsk_recognition_msgs::BoundinBoxArray\r\n- Pose and whether the object is adjusted or not\r\n  - topic: /obj_(car|person)/obj_pose_arrow\r\n  - type: visualization_msgs::MarkerArray\r\n\r\nIf the object has the nearby lane, the white ball is displayed.\r\n\r\n![screenshot from 2017-07-28 19-26-39](https://user-images.githubusercontent.com/1531482/28767353-5499ab8a-760e-11e7-965c-6d5071c9c03d.png)\r\n","created_at":"2017-07-28T10:49:19Z","updated_at":"2017-08-02T07:02:38Z","closed_at":null,"merged_at":null,"merge_commit_sha":"6832d825ed2918e4756c2211b2571b060308f31b","assignee":null,"assignees":[],"requested_reviewers":[{"login":"kuriking","id":1448722,"avatar_url":"https://avatars1.githubusercontent.com/u/1448722?v=4","gravatar_id":"","url":"https://api.github.com/users/kuriking","html_url":"https://github.com/kuriking","followers_url":"https://api.github.com/users/kuriking/followers","following_url":"https://api.github.com/users/kuriking/following{/other_user}","gists_url":"https://api.github.com/users/kuriking/gists{/gist_id}","starred_url":"https://api.github.com/users/kuriking/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kuriking/subscriptions","organizations_url":"https://api.github.com/users/kuriking/orgs","repos_url":"https://api.github.com/users/kuriking/repos","events_url":"https://api.github.com/users/kuriking/events{/privacy}","received_events_url":"https://api.github.com/users/kuriking/received_events","type":"User","site_admin":false},{"login":"yk-fujii","id":1758804,"avatar_url":"https://avatars3.githubusercontent.com/u/1758804?v=4","gravatar_id":"","url":"https://api.github.com/users/yk-fujii","html_url":"https://github.com/yk-fujii","followers_url":"https://api.github.com/users/yk-fujii/followers","following_url":"https://api.github.com/users/yk-fujii/following{/other_user}","gists_url":"https://api.github.com/users/yk-fujii/gists{/gist_id}","starred_url":"https://api.github.com/users/yk-fujii/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/yk-fujii/subscriptions","organizations_url":"https://api.github.com/users/yk-fujii/orgs","repos_url":"https://api.github.com/users/yk-fujii/repos","events_url":"https://api.github.com/users/yk-fujii/events{/privacy}","received_events_url":"https://api.github.com/users/yk-fujii/received_events","type":"User","site_admin":false},{"login":"amc-nu","id":7009053,"avatar_url":"https://avatars0.githubusercontent.com/u/7009053?v=4","gravatar_id":"","url":"https://api.github.com/users/amc-nu","html_url":"https://github.com/amc-nu","followers_url":"https://api.github.com/users/amc-nu/followers","following_url":"https://api.github.com/users/amc-nu/following{/other_user}","gists_url":"https://api.github.com/users/amc-nu/gists{/gist_id}","starred_url":"https://api.github.com/users/amc-nu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amc-nu/subscriptions","organizations_url":"https://api.github.com/users/amc-nu/orgs","repos_url":"https://api.github.com/users/amc-nu/repos","events_url":"https://api.github.com/users/amc-nu/events{/privacy}","received_events_url":"https://api.github.com/users/amc-nu/received_events","type":"User","site_admin":false}],"milestone":null,"commits_url":"https://api.github.com/repos/CPFL/Autoware/pulls/749/commits","review_comments_url":"https://api.github.com/repos/CPFL/Autoware/pulls/749/comments","review_comment_url":"https://api.github.com/repos/CPFL/Autoware/pulls/comments{/number}","comments_url":"https://api.github.com/repos/CPFL/Autoware/issues/749/comments","statuses_url":"https://api.github.com/repos/CPFL/Autoware/statuses/8d05bdaf8f345078fb3fb879a317fe2d919ebc4f","head":{"label":"CPFL:feature/obj_fusion_axis","ref":"feature/obj_fusion_axis","sha":"8d05bdaf8f345078fb3fb879a317fe2d919ebc4f","user":{"login":"CPFL","id":2747893,"avatar_url":"https://avatars1.githubusercontent.com/u/2747893?v=4","gravatar_id":"","url":"https://api.github.com/users/CPFL","html_url":"https://github.com/CPFL","followers_url":"https://api.github.com/users/CPFL/followers","following_url":"https://api.github.com/users/CPFL/following{/other_user}","gists_url":"https://api.github.com/users/CPFL/gists{/gist_id}","starred_url":"https://api.github.com/users/CPFL/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CPFL/subscriptions","organizations_url":"https://api.github.com/users/CPFL/orgs","repos_url":"https://api.github.com/users/CPFL/repos","events_url":"https://api.github.com/users/CPFL/events{/privacy}","received_events_url":"https://api.github.com/users/CPFL/received_events","type":"Organization","site_admin":false},"repo":{"id":41331761,"name":"Autoware","full_name":"CPFL/Autoware","owner":{"login":"CPFL","id":2747893,"avatar_url":"https://avatars1.githubusercontent.com/u/2747893?v=4","gravatar_id":"","url":"https://api.github.com/users/CPFL","html_url":"https://github.com/CPFL","followers_url":"https://api.github.com/users/CPFL/followers","following_url":"https://api.github.com/users/CPFL/following{/other_user}","gists_url":"https://api.github.com/users/CPFL/gists{/gist_id}","starred_url":"https://api.github.com/users/CPFL/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CPFL/subscriptions","organizations_url":"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