test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -116,18 +116,11 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     pcl_conversions::fromPCL(cloud.header.stamp, rosTime);
     cloudPacket.timestamp = rosTime.toSec();
     cloudPacket.cloud.reserve(cloud.size());
-    LOG_EVERY_N(INFO, 100) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
-              << " cloud.size(): " << cloud.size()
-              << " frontPTime: " << cloud.front().timestamp
-              << " backPTime: " << cloud.back().timestamp;
-//    if(cloudPacket.timestamp < 1683806268.156870){
-//        return;
-//    }
-//    if(cloudPacket.timestamp > 1683806268.956870){
-//        exit(0);
-//    }
-//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + "_raw.pcd", cloud);
-//    exit(0);
+//    LOG_EVERY_N(INFO, 100) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
+//              << " cloud.size(): " << cloud.size()
+//              << " frontPTime: " << cloud.front().timestamp
+//              << " backPTime: " << cloud.back().timestamp;
+
     for(size_t i = 0; i < cloud.size(); i++){
         if(i % 5 != 0){
             continue;

libs/voxel_map/libs/area/maparea.h

@@ -92,7 +92,7 @@ public:
         return currMesh_->IsAreaLoaded(pose);
     }
 
-    inline bool AreaAvgGridCnt(const Vector3d& pose){
+    inline double AreaAvgGridCnt(const Vector3d& pose){
         return currMesh_->AreaAvgGridCnt(pose);
     }