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localize_for_ppk
Commit 7f8a81c8 authored by wangdawei's avatar wangdawei
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test

parent 2cf7ceb3
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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...@@ -246,8 +246,8 @@ bool AdjustPPK::Undisort( ...@@ -246,8 +246,8 @@ bool AdjustPPK::Undisort(
{ {
vector<IsometryData> periodPose; vector<IsometryData> periodPose;
periodPose.reserve(150); periodPose.reserve(150);
double backPTime = rawFrame.timestamp; double backPTime = rawFrame.cloud.back().time;
double frontPTime = rawFrame.timestamp/* + rawFrame.cloud.front().time*/; double frontPTime = rawFrame.cloud.front().time;
for(; ppkIndex_ < localPoseVec_.size(); ppkIndex_++){ for(; ppkIndex_ < localPoseVec_.size(); ppkIndex_++){
const auto &pose = localPoseVec_.at(ppkIndex_); const auto &pose = localPoseVec_.at(ppkIndex_);
if(pose.timestamp > backPTime){ if(pose.timestamp > backPTime){
......
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