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localize_for_ppk
Commit 65ef74b5 authored by wangdawei's avatar wangdawei
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test

parent 56d31b97
Pipeline #1525 canceled with stages
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      Showing with 10 additions and 9 deletions
      libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
      View file @ 65ef74b5
      ......@@ -111,15 +111,16 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
      void AdjustPPK::LoadPPK()
      {
      IEReader::Ptr ieReader(new IEReader);
      directory_iterator nav_iter(ieBaseDir_);
      directory_iterator bag_end_iter;
      for(; nav_iter != bag_end_iter; nav_iter++) {
      if(nav_iter->path().extension().string() == ".nav"){
      LOG(INFO) << "nav: " << nav_iter->path().string();
      ieReader->Init(nav_iter->path().string());
      break;
      }
      }
      // directory_iterator nav_iter(ieBaseDir_);
      // directory_iterator bag_end_iter;
      // for(; nav_iter != bag_end_iter; nav_iter++) {
      // if(nav_iter->path().extension().string() == ".nav"){
      // LOG(INFO) << "nav: " << nav_iter->path().string();
      // ieReader->Init(nav_iter->path().string());
      // break;
      // }
      // }
      ieReader->Init(ieBaseDir_ + "/gnss.txt");
      rawData_ = ieReader->GetData();
      LOG(INFO) << "rawData_.size(): " << rawData_.size();
      }
      ......
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