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localize_for_ppk
Commit b4b256d7 authored by wangdawei's avatar wangdawei
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save frame

parent 63796d75
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Showing with 4 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ b4b256d7
...@@ -168,9 +168,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud) ...@@ -168,9 +168,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
LocateCloud(cloudInfo); LocateCloud(cloudInfo);
// PointCloudJ mathedCloud; PointCloudJ mathedCloud;
// pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>()); pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>());
// pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud); pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud);
} }
void AdjustPPK::LoadPPK() void AdjustPPK::LoadPPK()
...@@ -404,7 +404,7 @@ bool AdjustPPK::Undisort( ...@@ -404,7 +404,7 @@ bool AdjustPPK::Undisort(
PointCloudJ mappedFrame; PointCloudJ mappedFrame;
CloudPreprocess::Instance()->Undisort( CloudPreprocess::Instance()->Undisort(
frame, undisortedFrame, &mappedFrame, periodPose.back().timestamp, &periodPose, framePose, increasePose); frame, undisortedFrame, &mappedFrame, periodPose.back().timestamp, &periodPose, framePose, increasePose);
// pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame); pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
cloudInfo.frame = undisortedFrame; cloudInfo.frame = undisortedFrame;
cloudInfo.filterPoseInfo.increasePose = increasePose; cloudInfo.filterPoseInfo.increasePose = increasePose;
cloudInfo.timestamp = rawFrame.timestamp; cloudInfo.timestamp = rawFrame.timestamp;
......
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