test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -1174,6 +1174,8 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
     t.tm_isdst = 0;
 
     double unix_second = static_cast<double>(mktime(&t) + m_iTimeZoneSecond);
+
+    LOG(INFO) << std::setprecision(15) << "unix_second: " << unix_second;
     // ROS_WARN("#####block.fAzimuth[%u][%u]",pkt.blocks[0].fAzimuth,pkt.blocks[1].fAzimuth);
     int index = 0;
     index += PANDAR128_HEAD_SIZE;
@@ -1239,7 +1241,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
             unix_second + (static_cast<double>(tail->nTimestamp)) / 1000000.0;
             // ROS_WARN("#####block.fAzimuth[%u]",tail->nShutdownFlag);
 
-        LOG(INFO) << std::setprecision(15) << "unix_second: " << unix_second;
+//        LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp;
         point.timestamp =
             point.timestamp +
             m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) /