test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -32,8 +32,8 @@ AdjustPPK::AdjustPPK(const string &ieBaseDir, const string &mapDir)
             00.0026234, -0.0006643, 00.9999963, 00.2500000,
             00.0000000, 00.0000000, 00.0000000, 01.0000000;
 
-//    calib_.translation() = m.block(0, 3, 3, 1);
-//    calib_.linear() = m.block(0, 0, 3, 3);
+    calib_.translation() = m.block(0, 3, 3, 1);
+    calib_.linear() = m.block(0, 0, 3, 3);
     boost::thread trd(boost::bind(&AdjustPPK::LoadMap, this));
 }
 
@@ -109,7 +109,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     if(cloudPacket.timestamp > 1683806270.0){
         exit(0);
     }
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
 //    exit(0);
     for(const auto &p : cloud){
         PointInter point;
@@ -365,7 +365,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
             return false;
         }
         guessPose.map_point = mapPose.cast<double>();
-        guessPose.precision_type = MATCH_PRECISION_FULL;
+        guessPose.precision_type = MATCH_PRECISION_HIGH;
         currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, mapPose);
         ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose.translation().x()
             << ", " << mapPose.translation().y() << ", " << mapPose.translation().z() << endl;