test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -333,7 +333,7 @@ bool AdjustPPK::Undisort(
     pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
     cloudInfo.frame = undisortedFrame;
     cloudInfo.filterPoseInfo.increasePose = increasePose;
-    cloudInfo.timestamp = periodPose.back().timestamp;
+    cloudInfo.timestamp = rawFrame.timestamp;
     cloudInfo.filterPoseInfo.filterPose = framePose;
     Quaterniond q(increasePose.linear());
     Vector3d rpy= RotationQuaternionToEulerVector(q);