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localize_for_ppk
Commit 983c4d96 authored by wangdawei's avatar wangdawei
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change no map ppk radio from 0.01 to 0.9

parent 7a49468c
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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...@@ -515,7 +515,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo) ...@@ -515,7 +515,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
if(avgGridCnt < 20000){ if(avgGridCnt < 20000){
LOG(INFO) << "avgGridCnt < 20000! " << "avgGridCnt: " << avgGridCnt; LOG(INFO) << "avgGridCnt < 20000! " << "avgGridCnt: " << avgGridCnt;
if(ppkIndex_ > 0){ if(ppkIndex_ > 0){
double radio = 0.01; double radio = 0.9;
const auto &localPPK = localPoseVec_.at(ppkIndex_ - 1); const auto &localPPK = localPoseVec_.at(ppkIndex_ - 1);
mapPose_.translation() = mapPose_.translation() =
localPPK.pose.translation() * radio + localPPK.pose.translation() * radio +
......
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