test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -103,13 +103,13 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
               << " cloud.size(): " << cloud.size()
               << " frontPTime: " << cloud.front().timestamp
               << " backPTime: " << cloud.back().timestamp;
-    if(cloudPacket.timestamp < 1683806268.0){
+    if(cloudPacket.timestamp < 1683806268.156870){
         return;
     }
-    if(cloudPacket.timestamp > 1683806270.0){
+    if(cloudPacket.timestamp > 1683806268.156870){
         exit(0);
     }
-//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
 //    exit(0);
     for(const auto &p : cloud){
         PointInter point;
@@ -279,6 +279,7 @@ bool AdjustPPK::Undisort(
         return false;
     }
     PointCloudInter::Ptr frame = GetBaseFrame(rawFrame);
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(frontPTime) + "_base.pcd", *frame);
     Isometry3d framePose, increasePose;
     PointCloudJ::Ptr undisortedFrame(new PointCloudJ);
     PointCloudJ mappedFrame;