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localize_for_ppk
Commit bfbe27db authored by wangdawei's avatar wangdawei
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test

parent 0a122bd9
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Showing with 7 additions and 5 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ bfbe27db
...@@ -61,8 +61,10 @@ void AdjustPPK::ReadBag(const string &bagPath) ...@@ -61,8 +61,10 @@ void AdjustPPK::ReadBag(const string &bagPath)
for(; viewIterator != view->end(); viewIterator++) for(; viewIterator != view->end(); viewIterator++)
{ {
const rosbag::MessageInstance &m = *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>()){ if(!m.isType<pandar_msgs::PandarScan>()){
continue; continue;
} }
...@@ -70,9 +72,9 @@ void AdjustPPK::ReadBag(const string &bagPath) ...@@ -70,9 +72,9 @@ void AdjustPPK::ReadBag(const string &bagPath)
if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){ if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
OnReceivedCloud(cloud); OnReceivedCloud(cloud);
} }
// if(m.getTime().toSec() > 1683806268.1){ if(m.getTime().toSec() > 1683806270.0){
// exit(0); exit(0);
// } }
} }
} }
......
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