Commit 3751d706 authored by wangdawei's avatar wangdawei

test

parent 8596e87c
......@@ -3,7 +3,7 @@
//#include "voxel_map_stub.h"
#include "voxel_map/interface/voxel_map.h"
#define VOXEL_MAP_DEBUG
#define VOXEL_MAP_FAST_DEBUG
//#define VOXEL_MAP_DEBUG
//#define VOXEL_MAP_FAST_DEBUG
//#define VOXEL_MAP_CERES_DEBUG
//#define VOXEL_MAP_CERES_OUTPUT_NUM 0
......@@ -97,10 +97,13 @@ void AdjustPPK::ReadCenter()
}
void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
{
{
if(0 == cloud.size()){
return;
}
if(cloud.back().timestamp < 1683806268){
return;
}
double backPTime = cloud.back().timestamp;
double frontPTime = cloud.front().timestamp;
vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
......
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