test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -1239,7 +1239,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
           pitchIdx  += CIRCLE;
         }
 
-        azimuthIdx = CIRCLE - azimuthIdx;
         float xyDistance =
             distance * m_fCosAllAngle[pitchIdx];
         if(m_bCoordinateCorrectionFlag){
@@ -1255,6 +1254,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
 //        LOG_EVERY_N(INFO, 256) << "azimuthIdx: " << azimuthIdx
 //                               << " m_fSinAllAngle[azimuthIdx]" << m_fSinAllAngle[azimuthIdx];
 
+        azimuthIdx = CIRCLE - azimuthIdx;
         point.x = xyDistance * m_fSinAllAngle[azimuthIdx];
         point.y = xyDistance * m_fCosAllAngle[azimuthIdx];
         point.z = distance * m_fSinAllAngle[pitchIdx];