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localize_for_ppk
Commit 701397f2 authored by wangdawei's avatar wangdawei
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test

parent 0e8103bf
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Showing with 1 addition and 3 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 701397f2
...@@ -64,7 +64,7 @@ void AdjustPPK::ReadBag(const string &bagPath) ...@@ -64,7 +64,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
LOG_EVERY_N(INFO, 1) << "processScan"; LOG_EVERY_N(INFO, 1) << "processScan";
PPointCloud cloud; PPointCloud cloud;
if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){ if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
pcl::io::savePCDFileBinary(ieBaseDir_ + to_string(cloud.header.stamp) + ".pcd", cloud); pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloud.header.stamp) + ".pcd", cloud);
// OnReceivedCloud(cloud); // OnReceivedCloud(cloud);
} }
} }
......
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ 701397f2
...@@ -209,7 +209,6 @@ bool Convert::processScan( ...@@ -209,7 +209,6 @@ 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);
} }
...@@ -1431,7 +1430,6 @@ bool Convert::processPacket(PPointCloud& pc) ...@@ -1431,7 +1430,6 @@ bool Convert::processPacket(PPointCloud& pc)
// 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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