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localize_for_ppk
Commit 03705f6a authored by wangdawei's avatar wangdawei
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test

parent 5a1ea3dc
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Showing with 5 additions and 5 deletions
libs/locate_system/adjust_ppk_by_locate/convert.cc
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......@@ -1128,11 +1128,8 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
point.y = xyDistance * m_fCosAllAngle[azimuthIdx];
point.z = distance * m_fSinAllAngle[pitchIdx];
point.intensity = unit.u8Intensity;
point.timestamp = unix_second + (static_cast<double>(pkt.tail.nTimestamp)) / 1000000.0;
LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp;
point.timestamp = point.timestamp + m_objLaserOffset.getBlockTS(blockid, pkt.tail.nReturnMode, mode, pkt.head.u8LaserNum) / 1000000000.0 + offset / 1000000000.0;
LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp;
exit(0);
point.timestamp = unix_second + (static_cast<double>(pkt.tail.nTimestamp)) / 1000000.0;
point.timestamp = point.timestamp + m_objLaserOffset.getBlockTS(blockid, pkt.tail.nReturnMode, mode, pkt.head.u8LaserNum) / 1000000000.0 + offset / 1000000000.0;
if(0 == m_dTimestamp) {
m_dTimestamp = point.timestamp;
}
......@@ -1242,11 +1239,14 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
unix_second + (static_cast<double>(tail->nTimestamp)) / 1000000.0;
// ROS_WARN("#####block.fAzimuth[%u]",tail->nShutdownFlag);
LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp;
point.timestamp =
point.timestamp +
m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) /
1000000000.0 +
offset / 1000000000.0;
LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp;
exit(0);
if (0 == m_dTimestamp) {
m_dTimestamp = point.timestamp;
......
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