Commit bc53138b authored by wangdawei's avatar wangdawei

test

parent 03705f6a
...@@ -1239,14 +1239,14 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1239,14 +1239,14 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
unix_second + (static_cast<double>(tail->nTimestamp)) / 1000000.0; unix_second + (static_cast<double>(tail->nTimestamp)) / 1000000.0;
// ROS_WARN("#####block.fAzimuth[%u]",tail->nShutdownFlag); // ROS_WARN("#####block.fAzimuth[%u]",tail->nShutdownFlag);
LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp; // LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp;
point.timestamp = point.timestamp =
point.timestamp + point.timestamp +
m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) / m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) /
1000000000.0 + 1000000000.0 +
offset / 1000000000.0; offset / 1000000000.0;
LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp; LOG(INFO) << std::setprecision(15) << "point.timestamp 2: " << point.timestamp;
exit(0); // exit(0);
if (0 == m_dTimestamp) { if (0 == m_dTimestamp) {
m_dTimestamp = point.timestamp; m_dTimestamp = point.timestamp;
...@@ -1275,6 +1275,8 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1275,6 +1275,8 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
pthread_mutex_unlock(&m_RedundantPointLock); pthread_mutex_unlock(&m_RedundantPointLock);
} }
} }
exit(0);
} }
} }
} }
......
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