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localize_for_ppk
Commit 306572ac authored by wangdawei's avatar wangdawei
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test

parent d63d152f
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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...@@ -393,7 +393,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo) ...@@ -393,7 +393,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
} }
double avgGridCnt = currMatcher_->AreaAvgGridCnt(mapPose_.translation()); double avgGridCnt = currMatcher_->AreaAvgGridCnt(mapPose_.translation());
LOG(INFO) << "avgGridCnt: " << avgGridCnt; LOG(INFO) << "avgGridCnt: " << avgGridCnt;
if(avgGridCnt < 5){ if(avgGridCnt < 100){
return false; return false;
} }
ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose_.translation().x() ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose_.translation().x()
......
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