test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -62,9 +62,6 @@ void AdjustPPK::ReadBag(const string &bagPath)
     {
         const rosbag::MessageInstance &m = *viewIterator;
 //        LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
-        if(m.getTime().toSec() > 1683806268.1){
-            continue;
-        }
         if(!m.isType<pandar_msgs::PandarScan>()){
             continue;
         }
@@ -106,6 +103,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
               << " cloud.size(): " << cloud.size()
               << " frontPTime: " << cloud.front().timestamp
               << " backPTime: " << cloud.back().timestamp;
+    if(cloudPacket.timestamp < 1683806268.0){
+        return;
+    }
     if(cloudPacket.timestamp > 1683806270.0){
         exit(0);
     }