parse test

b074e021 · wangdawei · ee196d8f · b074e021
Commit b074e021 authored Jun 15, 2023 by wangdawei
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Showing with 6 additions and 6 deletions

adjust_ppk.cpp libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp +6 -6

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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
@@ -124,12 +124,12 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 //    }
    double backPTime = cloud.back().timestamp;
    double frontPTime = cloud.front().timestamp;
-    if(frontPTime < localPoseVec_.front().timestamp){
-        return;
-    }
-    if(backPTime > localPoseVec_.back().timestamp){
-        return;
-    }
+//    if(frontPTime < localPoseVec_.front().timestamp){
+//        return;
+//    }
+//    if(backPTime > localPoseVec_.back().timestamp){
+//        return;
+//    }
    vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
    CloudPacket cloudPacket;
    ros::Time rosTime;