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map_location
Commit ae3f1dd2 authored by oscar's avatar oscar
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更改

parent e86c04af
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Showing with 4 additions and 4 deletions
src/MapLocation.cpp
View file @ ae3f1dd2
......@@ -130,7 +130,7 @@ namespace JfxLocation
gnss_location_data.credible = true;
// gnss_location_data.gnss_time = 315936000.0 - 18 + msg->gps_time_.gnss_week_ * 7 * 86400 + msg->gps_time_.seconds_from_week_start_ + 8 * 3600;
gnss_location_data.gnss_time = gps.jfx_gps_time;
gnss_location_data.longitude_deviation = gps.longitude_deviation_;
gnss_location_data.longitude_deviation = gps.longitude_deviation;
gnss_location_data.latitude_deviation = gps.latitude_deviation;
gnss_location_data.height_deviation = gps.height_deviation;
gnss_location_data.solution_status = gps.solution_status;
......@@ -572,16 +572,16 @@ namespace JfxLocation
if (lane.conf >= sc_min_prob && lane.line_c0 != 0) {
ILaneMarking lane_edge = {};
if (false == ConvertLanePos(lane.line_side, lane_edge.pos)) {
ROS_WARN("RosInterface::ReceiveAduData(), invalid side type: %d", lane.line_side_);
//ROS_WARN("RosInterface::ReceiveAduData(), invalid side type: %d", lane.line_side_);
continue;
}
if (false == ConvertLaneColor(lane.line_color, lane_edge.lane_marking_color)) {
ROS_WARN("RosInterface::ReceiveAduData(), invalid color type: %d", lane.line_color_);
//ROS_WARN("RosInterface::ReceiveAduData(), invalid color type: %d", lane.line_color_);
continue;
}
// lane_edge.color_prob = lane.line_color_prob_;
if (false == ConvertLaneCross(lane.line_dlm_type, lane.line_lane_mark_type, lane_edge.cross_type)) {
ROS_WARN("RosInterface::ReceiveAduData(), invalid cross type: dlm = %d, mark = %d", lane.line_dlm_type_, lane.line_lane_mark_type_);
//ROS_WARN("RosInterface::ReceiveAduData(), invalid cross type: dlm = %d, mark = %d", lane.line_dlm_type_, lane.line_lane_mark_type_);
continue;
}
lane_edge.angle = lane.line_c1;
......
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