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wangdawei
localize_for_ppk
Commits
8596e87c
Commit
8596e87c
authored
May 30, 2023
by
wangdawei
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test
parent
ec46bb00
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2 changed files
with
3 additions
and
3 deletions
+3
-3
voxel_map_interface.h
libs/localize/voxel_map/voxel_map_interface.h
+2
-2
adjust_ppk.cpp
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+1
-1
No files found.
libs/localize/voxel_map/voxel_map_interface.h
View file @
8596e87c
...
...
@@ -3,7 +3,7 @@
//#include "voxel_map_stub.h"
#include "voxel_map/interface/voxel_map.h"
//
#define VOXEL_MAP_DEBUG
//
#define VOXEL_MAP_FAST_DEBUG
#define VOXEL_MAP_DEBUG
#define VOXEL_MAP_FAST_DEBUG
//#define VOXEL_MAP_CERES_DEBUG
//#define VOXEL_MAP_CERES_OUTPUT_NUM 0
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @
8596e87c
...
...
@@ -380,7 +380,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
}
ofs
<<
setprecision
(
16
)
<<
cloudInfo
.
timestamp
<<
", "
<<
mapPose_
.
translation
().
x
()
<<
", "
<<
mapPose_
.
translation
().
y
()
<<
", "
<<
mapPose_
.
translation
().
z
()
<<
endl
;
guessPose
.
precision_type
=
MATCH_PRECISION_
FAS
T
;
guessPose
.
precision_type
=
MATCH_PRECISION_
INI
T
;
Isometry3f
finalPose
;
float
score
=
currMatcher_
->
MatchPointCloud
(
cloudInfo
.
frame
,
guessPose
,
finalGnssPose
,
finalPose
);
if
(
score
<
0.45
){
...
...
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