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localize_for_ppk
Commit 4f57e0a6 authored by wangdawei's avatar wangdawei
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test

parent 23e1fd8b
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Showing with 2 additions and 3 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 4f57e0a6
...@@ -94,7 +94,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud) ...@@ -94,7 +94,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
pcl_conversions::fromPCL(cloud.header.stamp, rosTime); pcl_conversions::fromPCL(cloud.header.stamp, rosTime);
cloudPacket.timestamp = rosTime.toSec(); cloudPacket.timestamp = rosTime.toSec();
cloudPacket.cloud.reserve(cloud.size()); cloudPacket.cloud.reserve(cloud.size());
LOG_EVERY_N(INFO, 1) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp LOG_EVERY_N(INFO, 100) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
<< " cloud.size()" << cloud.size() << " cloud.size()" << cloud.size()
<< " frontPTime " << cloud.front().timestamp << " frontPTime " << cloud.front().timestamp
<< " backPTime " << cloud.back().timestamp; << " backPTime " << cloud.back().timestamp;
...@@ -106,10 +106,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud) ...@@ -106,10 +106,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
point.z = p.z; point.z = p.z;
point.intensity = p.intensity; point.intensity = p.intensity;
point.time = p.timestamp; point.time = p.timestamp;
LOG_EVERY_N(INFO, 1800) << setprecision(15) << "p.timestamp: " << p.timestamp; // LOG_EVERY_N(INFO, 1800) << setprecision(15) << "p.timestamp: " << p.timestamp;
cloudPacket.cloud.push_back(point); cloudPacket.cloud.push_back(point);
} }
exit(0);
CloudInfoForMatch cloudInfo; CloudInfoForMatch cloudInfo;
if(!Undisort(cloudPacket, cloudInfo)){ if(!Undisort(cloudPacket, cloudInfo)){
......
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