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localize_for_ppk
Commit 78ec7810 authored by wangdawei's avatar wangdawei
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test

parent c2072fa9
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Showing with 4 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 78ec7810
...@@ -106,7 +106,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud) ...@@ -106,7 +106,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
point.z = p.z; point.z = p.z;
point.intensity = p.intensity; point.intensity = p.intensity;
point.time = p.timestamp; point.time = p.timestamp;
// LOG_EVERY_N(INFO, 1000) << setprecision(15) << "p.timestamp: " << p.timestamp; LOG_EVERY_N(INFO, 1800) << setprecision(15) << "p.timestamp: " << p.timestamp;
cloudPacket.cloud.push_back(point); cloudPacket.cloud.push_back(point);
} }
exit(0); exit(0);
......
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ 78ec7810
...@@ -1267,9 +1267,9 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1267,9 +1267,9 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i; point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i;
} }
if(m_OutMsgArray[cursor]->points[point_index].ring == 0){ if(m_OutMsgArray[cursor]->points[point_index].ring == 0){
LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp // LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp
<< " point_index: " << point_index // << " point_index: " << point_index
<< " azimuth: " << azimuth; // << " azimuth: " << azimuth;
m_OutMsgArray[cursor]->points[point_index] = point; m_OutMsgArray[cursor]->points[point_index] = point;
} }
else{ else{
......
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