test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -56,7 +56,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
     for(; viewIterator != view->end();)
     {
         const rosbag::MessageInstance &m = *viewIterator;
-//        LOG_EVERY_N(INFO, 10000)<< setprecision(15) << "<< m.getTime(): " << m.getTime().toSec();
+        LOG_EVERY_N(INFO, 1)<< setprecision(15) << "<< m.getTime(): " << m.getTime().toSec();
         if(!m.isType<pandar_msgs::PandarScan>()){
             viewIterator++;
             continue;
@@ -94,6 +94,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     pcl_conversions::fromPCL(cloud.header.stamp, rosTime);
     cloudPacket.timestamp = rosTime.toSec();
     cloudPacket.cloud.reserve(cloud.size());
+    LOG(INFO) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp;
     for(const auto &p : cloud){
         PointInter point;
         point.x = p.x;
@@ -326,8 +327,12 @@ void AdjustPPK::LoadMap()
         }
         string streamPath = outputDir + to_string(meshId) + ".stream";
 
-        Compress(meshInfo.pcdPathVec, streamPath);
-        LOG(WARNING) << "mesh compressed: " << meshId;
+        if(!exists(streamPath)){
+            Compress(meshInfo.pcdPathVec, streamPath);
+            LOG(WARNING) << "mesh compressed: " << meshId;
+        }else{
+            LOG(WARNING) << "mesh exists: " << meshId;
+        }
 
         LoadMesh(streamPath, meshInfo);
         LOG(WARNING) << "mesh loaded: " << meshId;