test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -95,7 +95,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     cloudPacket.timestamp = rosTime.toSec();
     cloudPacket.cloud.reserve(cloud.size());
     LOG_EVERY_N(INFO, 99) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
-              << " cloud.size()" << cloud.size();
+              << " cloud.size()" << cloud.size()
+              << " frontPTime " << cloud.front().timestamp
+              << " backPTime " << cloud.back().timestamp;
 //    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
     for(const auto &p : cloud){
         PointInter point;

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -1245,7 +1245,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
             m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) /
                 1000000000.0 +
             offset / 1000000000.0;
-        LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp;
+//        LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp;
 //        exit(0);
 
         if (0 == m_dTimestamp) {
@@ -1275,7 +1275,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
           pthread_mutex_unlock(&m_RedundantPointLock);
         }
       }
-      exit(0);
 
     }
   }