test

libs/localize/voxel_map/voxel_map_interface.h

@@ -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

@@ -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);