test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -150,6 +150,10 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     }
 
     LocateCloud(cloudInfo);
+
+    PointCloudJ mathedCloud;
+    pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>());
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud);
 }
 
 void AdjustPPK::LoadPPK()
@@ -402,9 +406,6 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
     guessPose.precision_type = MATCH_PRECISION_HIGH;
     currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);
     mapPose_ = finalPose.cast<double>();
-    PointCloudJ mathedCloud;
-    pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, finalPose);
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_mathed.pcd", mathedCloud);
     return true;
 }