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localize_for_ppk
Commit 0482b4f2 authored by wangdawei's avatar wangdawei
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test

parent 10464f69
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Showing with 4 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 0482b4f2
...@@ -264,7 +264,7 @@ bool AdjustPPK::Undisort( ...@@ -264,7 +264,7 @@ bool AdjustPPK::Undisort(
if(periodPose.size() < 2){ if(periodPose.size() < 2){
return false; return false;
} }
LOG_EVERY_N(INFO, 100) << setprecision(15) LOG_EVERY_N(INFO, 10) << setprecision(15)
<< " frontPTime: " << frontPTime << " frontPTime: " << frontPTime
<< " backPTime: " << backPTime << " backPTime: " << backPTime
<< " periodPose.front(): " << periodPose.front().timestamp << " periodPose.front(): " << periodPose.front().timestamp
...@@ -281,9 +281,9 @@ bool AdjustPPK::Undisort( ...@@ -281,9 +281,9 @@ bool AdjustPPK::Undisort(
cloudInfo.filterPoseInfo.filterPose = framePose; cloudInfo.filterPoseInfo.filterPose = framePose;
Quaterniond q(framePose.linear()); Quaterniond q(framePose.linear());
Vector3d rpy= RotationQuaternionToEulerVector(q); Vector3d rpy= RotationQuaternionToEulerVector(q);
LOG(INFO) << "periodPose.size() " << periodPose.size() // LOG(INFO) << "periodPose.size() " << periodPose.size()
<< " framePose: " << framePose.translation().transpose() // << " framePose: " << framePose.translation().transpose()
<< " rpy: " << rpy.transpose(); // << " rpy: " << rpy.transpose();
return true; return true;
} }
......
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