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localize_for_ppk
Commit 73edffc8 authored by wangdawei's avatar wangdawei
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test

parent 3d250dfc
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Showing with 5 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 73edffc8
......@@ -252,8 +252,9 @@ void AdjustPPK::Undisort(
break;
}
if(pose.timestamp <= frontPTime){
periodPose.emplace_back(pose);
continue;
}
periodPose.emplace_back(pose);
}
PointCloudInter::Ptr frame = GetBaseFrame(rawFrame);
Isometry3d framePose, increasePose;
......@@ -357,13 +358,13 @@ void AdjustPPK::LoadMap()
if(!exists(streamPath)){
Compress(meshInfo.pcdPathVec, streamPath);
LOG(WARNING) << "mesh compressed: " << meshId;
LOG(INFO) << "mesh compressed: " << meshId;
}else{
LOG(WARNING) << "mesh compressed: " << meshId;
LOG(INFO) << "mesh exist: " << meshId;
}
LoadMesh(streamPath, meshInfo);
LOG(WARNING) << "mesh loaded: " << meshId;
LOG(INFO) << "mesh loaded: " << meshId;
}
}
......
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