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localize_for_ppk
Commit a411855a authored by wangdawei's avatar wangdawei
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test

parent cf43ad3a
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libs/locate_system/adjust_ppk_by_locate/convert.cc
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...@@ -1143,7 +1143,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1143,7 +1143,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
else if(azimuthIdx < 0) { else if(azimuthIdx < 0) {
azimuthIdx += CIRCLE; azimuthIdx += CIRCLE;
} }
azimuthIdx = CIRCLE - azimuthIdx;
point.x = xyDistance * m_fSinAllAngle[azimuthIdx]; point.x = xyDistance * m_fSinAllAngle[azimuthIdx];
point.y = xyDistance * m_fCosAllAngle[azimuthIdx]; point.y = xyDistance * m_fCosAllAngle[azimuthIdx];
point.z = distance * m_fSinAllAngle[pitchIdx]; point.z = distance * m_fSinAllAngle[pitchIdx];
...@@ -1240,6 +1239,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1240,6 +1239,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
pitchIdx += CIRCLE; pitchIdx += CIRCLE;
} }
azimuthIdx = CIRCLE - azimuthIdx;
float xyDistance = float xyDistance =
distance * m_fCosAllAngle[pitchIdx]; distance * m_fCosAllAngle[pitchIdx];
if(m_bCoordinateCorrectionFlag){ if(m_bCoordinateCorrectionFlag){
......
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