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localize_for_ppk
Commit 8596e87c authored by wangdawei's avatar wangdawei
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test

parent ec46bb00
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Showing with 3 additions and 3 deletions
libs/localize/voxel_map/voxel_map_interface.h
View file @ 8596e87c
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
//#include "voxel_map_stub.h" //#include "voxel_map_stub.h"
#include "voxel_map/interface/voxel_map.h" #include "voxel_map/interface/voxel_map.h"
//#define VOXEL_MAP_DEBUG #define VOXEL_MAP_DEBUG
//#define VOXEL_MAP_FAST_DEBUG #define VOXEL_MAP_FAST_DEBUG
//#define VOXEL_MAP_CERES_DEBUG //#define VOXEL_MAP_CERES_DEBUG
//#define VOXEL_MAP_CERES_OUTPUT_NUM 0 //#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) ...@@ -380,7 +380,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
} }
ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose_.translation().x() ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose_.translation().x()
<< ", " << mapPose_.translation().y() << ", " << mapPose_.translation().z() << endl; << ", " << mapPose_.translation().y() << ", " << mapPose_.translation().z() << endl;
guessPose.precision_type = MATCH_PRECISION_FAST; guessPose.precision_type = MATCH_PRECISION_INIT;
Isometry3f finalPose; Isometry3f finalPose;
float score = currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose); float score = currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);
if(score < 0.45){ if(score < 0.45){
......
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