test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -1175,7 +1175,6 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
 
     double unix_second = static_cast<double>(mktime(&t) + m_iTimeZoneSecond);
 
-    LOG(INFO) << std::setprecision(15) << "unix_second: " << unix_second;
     // ROS_WARN("#####block.fAzimuth[%u][%u]",pkt.blocks[0].fAzimuth,pkt.blocks[1].fAzimuth);
     int index = 0;
     index += PANDAR128_HEAD_SIZE;
@@ -1268,6 +1267,9 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
           point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i;
         }
         if(m_OutMsgArray[cursor]->points[point_index].ring == 0){
+            LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp
+                      << " point_index: " << point_index
+                      << " azimuth: " << azimuth;
           m_OutMsgArray[cursor]->points[point_index] = point;
         }
         else{