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wangdawei
localize_for_ppk
Commits
3751d706
Commit
3751d706
authored
May 30, 2023
by
wangdawei
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test
parent
8596e87c
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2 changed files
with
6 additions
and
3 deletions
+6
-3
voxel_map_interface.h
libs/localize/voxel_map/voxel_map_interface.h
+2
-2
adjust_ppk.cpp
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+4
-1
No files found.
libs/localize/voxel_map/voxel_map_interface.h
View file @
3751d706
...
...
@@ -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
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @
3751d706
...
...
@@ -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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