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wangdawei
localize_for_ppk
Commits
b074e021
Commit
b074e021
authored
Jun 15, 2023
by
wangdawei
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parse test
parent
ee196d8f
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adjust_ppk.cpp
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+6
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @
b074e021
...
@@ -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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