test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -113,7 +113,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     if(cloudPacket.timestamp > 1683806268.956870){
         exit(0);
     }
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + "_raw.pcd", cloud);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + "_raw.pcd", cloud);
 //    exit(0);
     for(const auto &p : cloud){
         PointInter point;
@@ -289,7 +289,7 @@ bool AdjustPPK::Undisort(
     PointCloudJ mappedFrame;
     CloudPreprocess::Instance()->Undisort(
                             frame, undisortedFrame, &mappedFrame, backPTime, &periodPose, framePose, increasePose);
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
     cloudInfo.frame = undisortedFrame;
     cloudInfo.filterPoseInfo.increasePose = increasePose;
     cloudInfo.timestamp = rawFrame.timestamp;
@@ -362,6 +362,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
         guessPose.movement = cloudInfo.filterPoseInfo.increasePose.translation().norm();
         guessPose.rotation = fabs(increaseRpy.z());
         guessPose.use_gnss = false;
+        LOG(INFO) << "currMatcher_ ptr: " << currMatcher_.get();
         if(!currMatcher_->IsMapLoaded(mapPose.translation().cast<double>())){
             currMatcher_->loadArea(mapPose.translation().cast<double>());
         }
@@ -408,7 +409,8 @@ void AdjustPPK::LoadMap()
         }
 
         LoadMesh(streamPath, meshInfo.matcher);
-        LOG(INFO) << "mesh loaded: " << meshId;
+        LOG(INFO) << "mesh loaded: " << meshId
+                  << " ptr: " << meshInfo.matcher.get();
     }
 }