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localize_for_ppk
Commit b074e021 authored by wangdawei's avatar wangdawei
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parse test

parent ee196d8f
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
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...@@ -124,12 +124,12 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud) ...@@ -124,12 +124,12 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
// } // }
double backPTime = cloud.back().timestamp; double backPTime = cloud.back().timestamp;
double frontPTime = cloud.front().timestamp; double frontPTime = cloud.front().timestamp;
if(frontPTime < localPoseVec_.front().timestamp){ // if(frontPTime < localPoseVec_.front().timestamp){
return; // return;
} // }
if(backPTime > localPoseVec_.back().timestamp){ // if(backPTime > localPoseVec_.back().timestamp){
return; // return;
} // }
vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime); vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
CloudPacket cloudPacket; CloudPacket cloudPacket;
ros::Time rosTime; ros::Time rosTime;
......
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