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localize_for_ppk
Commit 80c27e72 authored by wangdawei's avatar wangdawei
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test

parent c83adb5c
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Showing with 6 additions and 6 deletions
libs/locate_system/adjust_ppk_by_locate/convert.cc
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...@@ -1266,13 +1266,13 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1266,13 +1266,13 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
} else { } else {
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){ // 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]->push_back(point);
// if(m_OutMsgArray[cursor]->points[point_index].ring == 0){
// m_OutMsgArray[cursor]->points[point_index] = point; // m_OutMsgArray[cursor]->points[point_index] = point;
m_OutMsgArray[cursor]->push_back(point); // }
}
else{ else{
pthread_mutex_lock(&m_RedundantPointLock); pthread_mutex_lock(&m_RedundantPointLock);
if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp < 0.11) if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp < 0.11)
......
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