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localize_for_ppk
Commit 6752fd40 authored by wangdawei's avatar wangdawei
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test

parent 2a611099
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Showing with 4 additions and 1 deletion
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ 6752fd40
...@@ -209,6 +209,7 @@ bool Convert::processScan( ...@@ -209,6 +209,7 @@ bool Convert::processScan(
for (size_t next = 0; next < scanMsg->packets.size(); ++next) { for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
pushLiDARData(scanMsg->packets[next]); pushLiDARData(scanMsg->packets[next]);
} }
LOG(INFO) << "processPacket";
return processPacket(pc); return processPacket(pc);
} }
...@@ -436,7 +437,7 @@ void Convert::processGps(pandar_msgs::PandarGps &gpsMsg) { ...@@ -436,7 +437,7 @@ void Convert::processGps(pandar_msgs::PandarGps &gpsMsg) {
} }
void Convert::pushLiDARData(pandar_msgs::PandarPacket packet) { void Convert::pushLiDARData(pandar_msgs::PandarPacket packet) {
ROS_WARN("Convert::pushLiDARData"); // ROS_WARN("Convert::pushLiDARData");
m_PacketsBuffer.push_back(packet); m_PacketsBuffer.push_back(packet);
} }
...@@ -1426,9 +1427,11 @@ bool Convert::processPacket(PPointCloud& pc) ...@@ -1426,9 +1427,11 @@ bool Convert::processPacket(PPointCloud& pc)
static int pktCount = 0; static int pktCount = 0;
static int cursor = 0; static int cursor = 0;
if (!m_PacketsBuffer.hasEnoughPackets()) { if (!m_PacketsBuffer.hasEnoughPackets()) {
LOG(INFO) << "!m_PacketsBuffer.hasEnoughPackets()";
// usleep(1000); // usleep(1000);
return false; return false;
} }
LOG(INFO) << "init";
init(); init();
if (0 == checkLiadaMode()) { if (0 == checkLiadaMode()) {
ROS_WARN("checkLiadaMode now!!"); ROS_WARN("checkLiadaMode now!!");
......
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