test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -214,7 +214,7 @@ bool Convert::processScan(
         inited = true;
     }
     m_OutMsgArray[0]->clear();
-    m_OutMsgArray[0]->resize(CIRCLE_ANGLE / m_iAngleSize * m_iLaserNum * m_iReturnBlockSize );
+    m_OutMsgArray[0]->reserve(CIRCLE_ANGLE / m_iAngleSize * m_iLaserNum * m_iReturnBlockSize );
     for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
         calcPointXYZIT(scanMsg->packets[next], 0);
     }
@@ -1267,10 +1267,11 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
           point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i;
         }
         if(m_OutMsgArray[cursor]->points[point_index].ring == 0){
-            LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp
-                      << " point_index: " << point_index
-                      << " azimuth: " << azimuth;
-          m_OutMsgArray[cursor]->points[point_index] = point;
+//            LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp
+//                      << " point_index: " << point_index
+//                      << " azimuth: " << azimuth;
+//          m_OutMsgArray[cursor]->points[point_index] = point;
+          m_OutMsgArray[cursor]->push_back(point);
         }
         else{
           pthread_mutex_lock(&m_RedundantPointLock);