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localize_for_ppk
Commit 2adc0e75 authored by wangdawei's avatar wangdawei
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test

parent bbd2c023
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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......@@ -537,7 +537,11 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
guessPose.rotation = 0.01;
guessPose.use_gnss = false;
if(!currMatcher_->IsMapLoaded(guess.translation())){
auto start = std::chrono::high_resolution_clock::now();
currMatcher_->loadArea(guess.translation());
auto end = std::chrono::high_resolution_clock::now();
auto time_used = std::chrono::duration_cast<std::chrono::duration<double>>(end - start).count();
LOG(INFO) << "loadArea time_used " << time_used;
}
double avgGridCnt = currMatcher_->AreaAvgGridCnt(guess.translation());
if(avgGridCnt < 20000){
......
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