test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -1143,7 +1143,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
 				else if(azimuthIdx < 0) {
 					azimuthIdx += CIRCLE;
                 }
-                azimuthIdx = CIRCLE - azimuthIdx;
 				point.x = xyDistance * m_fSinAllAngle[azimuthIdx];
 				point.y = xyDistance * m_fCosAllAngle[azimuthIdx];
 				point.z = distance * m_fSinAllAngle[pitchIdx];
@@ -1240,6 +1239,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
           pitchIdx  += CIRCLE;
         }
 
+        azimuthIdx = CIRCLE - azimuthIdx;
         float xyDistance =
             distance * m_fCosAllAngle[pitchIdx];
         if(m_bCoordinateCorrectionFlag){