test

apps/localize_ppk.cpp

@@ -53,6 +53,9 @@ int main(int argc, char *argv[])
     FLAGS_colorlogtostderr = true;
     FLAGS_stderrthreshold = 0;
     FLAGS_logbufsecs = 0;
+
+    pandar_pointcloud::Convert::SetEnvironmentVariableTZ();
+
     if(boost::filesystem::exists(FLAGS_ie_base_dir)){
         FLAGS_log_dir = FLAGS_ie_base_dir + "/log";
         boost::filesystem::create_directory(FLAGS_log_dir);

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -96,7 +96,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     cloudPacket.cloud.reserve(cloud.size());
     LOG(INFO) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
               << " cloud.size()" << cloud.size();
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
     return;
     for(const auto &p : cloud){
         PointInter point;

libs/locate_system/adjust_ppk_by_locate/convert.h

@@ -395,6 +395,7 @@ class Convert {
   int processLiDARData();
   void publishPoints();
 
+  static void SetEnvironmentVariableTZ();
  private:
   void init(pandar_msgs::PandarPacket packet);
   void processGps(const pandar_msgs::PandarGps::ConstPtr &gpsMsg);
@@ -415,7 +416,6 @@ class Convert {
   void moveTaskEndToStartAngle();
   void init();
   void checkClockwise();
-  void SetEnvironmentVariableTZ();
   bool isNeedPublish();
 
   bool processPacket(PPointCloud& pc);