add down sample gnss result

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -24,6 +24,8 @@ AdjustPPK::AdjustPPK(const string &ieBaseDir, const string &mapDir)
     CalPPKPeriod();
     std::ofstream ofs(ieBaseDir_ + "/CloudPredictPose.txt", ios::out);
     ofs.close();
+    ofs.open(ieBaseDir_ + "/gnss_result_ds.txt", ios::out);
+    ofs.close();
 
     ofs_.open(ieBaseDir_ + "/gnss_result.txt", ios::out);
     Matrix4d m;
@@ -361,6 +363,7 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
 {
     vector<IsometryData> periodPose;
     periodPose.reserve(150);
+    std::ofstream ofs(ieBaseDir_ + "/gnss_result_ds.txt", ios::app);
     LOG(INFO) << "mapPose_ before HandleLocalPPK: " << mapPose_.translation().transpose();
     for(; ppkIndex_ < localPoseVec_.size(); ){
         const auto &pose = localPoseVec_.at(ppkIndex_);
@@ -390,6 +393,12 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
             << ", " << calibedBLH.x() << ", " << calibedBLH.y() << ", " << calibedBLH.z()
             << ", " << rawData.n_velocity << ", " << rawData.e_velocity << ", " << rawData.u_velocity
             << ", " << rpy.x() << ", " << rpy.y() << ", " << rpy.z() << ", " << rawData.status << endl;
+        if(ppkIndex_ % 10 == 0){
+            ofs << setprecision(16) << "qx" << ", " << rawData.week << ", " << rawData.seconds
+                << ", " << calibedBLH.x() << ", " << calibedBLH.y() << ", " << calibedBLH.z()
+                << ", " << rawData.n_velocity << ", " << rawData.e_velocity << ", " << rawData.u_velocity
+                << ", " << rpy.x() << ", " << rpy.y() << ", " << rpy.z() << ", " << rawData.status << endl;
+        }
         if(pose.timestamp >= frontPTime){
             IsometryData calibedPose;
             calibedPose.pose = mapPose_;
@@ -398,6 +407,7 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
         }
         ppkIndex_++;
     }
+    ofs.close();
     LOG(INFO) << "mapPose_ after HandleLocalPPK: " << mapPose_.translation().transpose();
     LOG(INFO) << setprecision(15) << "periodPose.size(): " << periodPose.size()
               << " frontPTime: " << frontPTime