test

af91c97f · wangdawei · 91c83ae2 · af91c97f
Commit af91c97f authored May 31, 2023 by wangdawei
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adjust_ppk.cpp libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp +4 -1

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--- a/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+++ b/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
@@ -298,7 +298,10 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
        }else{
            mapPose_ = mapPose_ * (localPoseVec_.at(ppkIndex_ - 1).pose.inverse() * pose.pose);
        }
-        periodPose.emplace_back(mapPose_);
+        IsometryData calibedPose;
+        calibedPose.pose = mapPose_;
+        calibedPose.timestamp = pose.timestamp;
+        periodPose.emplace_back(calibedPose);
        Vector3d calibedBLH;
        proj_.Reverse(mapPose_.translation().x(),
                      mapPose_.translation().y(),