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localize_for_ppk
Commit 7a49468c authored by wangdawei's avatar wangdawei
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add down sample gnss result

parent 3f402e7e
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Showing with 2 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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...@@ -394,10 +394,8 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK( ...@@ -394,10 +394,8 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
<< ", " << rawData.n_velocity << ", " << rawData.e_velocity << ", " << rawData.u_velocity << ", " << rawData.n_velocity << ", " << rawData.e_velocity << ", " << rawData.u_velocity
<< ", " << rpy.x() << ", " << rpy.y() << ", " << rpy.z() << ", " << rawData.status << endl; << ", " << rpy.x() << ", " << rpy.y() << ", " << rpy.z() << ", " << rawData.status << endl;
if(ppkIndex_ % 10 == 0){ if(ppkIndex_ % 10 == 0){
ofs << setprecision(16) << "qx" << ", " << rawData.week << ", " << rawData.seconds ofs << setprecision(16) << pose.timestamp << ", " << mapPose_.translation().x() << ", "
<< ", " << calibedBLH.x() << ", " << calibedBLH.y() << ", " << calibedBLH.z() << mapPose_.translation().y() << ", " << mapPose_.translation().z() << endl;
<< ", " << rawData.n_velocity << ", " << rawData.e_velocity << ", " << rawData.u_velocity
<< ", " << rpy.x() << ", " << rpy.y() << ", " << rpy.z() << ", " << rawData.status << endl;
} }
if(pose.timestamp >= frontPTime){ if(pose.timestamp >= frontPTime){
IsometryData calibedPose; IsometryData calibedPose;
......
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