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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -546,7 +546,7 @@ void AdjustPPK::Compress(const vector<PCDPathInfo> &pcdPathVec,
 {
     PointCloudExport::Ptr pointcloud(new PointCloudExport);
     for(const auto &pcdInfo : pcdPathVec){
-        LOG(INFO) << "taskName" << pcdInfo.taskName
+        LOG(INFO) << "taskName: " << pcdInfo.taskName
                   << " pcdPath: " << pcdInfo.pcdPath
                   << " taskCenter: " << pcdInfo.taskCenter.transpose();
         PointCloudExport pc;
@@ -578,6 +578,16 @@ void AdjustPPK::Compress(const vector<PCDPathInfo> &pcdPathVec,
         *pointcloud += pc;
     }
     LOG(INFO) << "pointcloud->size() to dispatch: " << pointcloud->size();
+    PointCloudExport downSampledPc;
+    downSampledPc.reserve(pointcloud->size() * 0.25);
+    for(size_t i = 0; i < pointcloud->size(); i++){
+        if(i % 5 != 0){
+            continue;
+        }
+        const auto& p = pointcloud->at(i);
+        downSampledPc.push_back(p);
+    }
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/downSampledPc.pcd", downSampledPc);
     boost::shared_ptr<Dispatch> dispatch(new Dispatch(pointcloud));
     // dispatch.setMeshId(meshId);
     dispatch->configOffset();