test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -61,8 +61,10 @@ void AdjustPPK::ReadBag(const string &bagPath)
     for(; viewIterator != view->end(); viewIterator++)
     {
         const rosbag::MessageInstance &m = *viewIterator;
-        LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
-
+//        LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
+        if(m.getTime().toSec() > 1683806268.1){
+            continue;
+        }
         if(!m.isType<pandar_msgs::PandarScan>()){
             continue;
         }
@@ -70,9 +72,9 @@ void AdjustPPK::ReadBag(const string &bagPath)
         if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
             OnReceivedCloud(cloud);
         }
-//        if(m.getTime().toSec() > 1683806268.1){
-//            exit(0);
-//        }
+        if(m.getTime().toSec() > 1683806270.0){
+            exit(0);
+        }
     }
 }