down sample local ppk

apps/localize_ppk.cpp

@@ -73,7 +73,7 @@ int main(int argc, char *argv[])
             auto end = std::chrono::high_resolution_clock::now();
             auto time_used = std::chrono::duration_cast<std::chrono::duration<double>>(end - start).count();
             LOG(INFO) << "ReadBag time_used " << time_used;
-            break;
+//            break;
         }
     }
 

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -272,6 +272,8 @@ void AdjustPPK::CalLocalPose()
     localPoseVec_.reserve(rawData_.size());
     proj_.Reset(center_.y(), center_.x(), center_.z());
     std::ofstream ofs(ieBaseDir_ + "/LocalPPK.txt", ios::out);
+    std::ofstream ofs_1(ieBaseDir_ + "/LocalPPK_DownSample.txt", ios::out);
+    uint64_t cnt = 0;
     for(const IERawData& rawPPK : rawData_){
         IsometryData localPose;
         proj_.Forward(rawPPK.latitude, rawPPK.longitude, rawPPK.height,
@@ -285,8 +287,13 @@ void AdjustPPK::CalLocalPose()
 
         ofs << setprecision(16) << localPose.timestamp << ", " << localPose.pose.translation().x()
             << ", " << localPose.pose.translation().y() << ", " << localPose.pose.translation().z() << endl;
+        if(0 == cnt++ % 10){
+            ofs_1 << setprecision(16) << localPose.timestamp << ", " << localPose.pose.translation().x()
+                << ", " << localPose.pose.translation().y() << ", " << localPose.pose.translation().z() << endl;
+        }
     }
     ofs.close();
+    ofs_1.close();
     LOG(INFO) << "localPoseVec_.size(): " << localPoseVec_.size();
 }
 
@@ -398,7 +405,7 @@ bool AdjustPPK::Undisort(
     cloudInfo.filterPoseInfo.filterPose = framePose;
     Quaterniond q(increasePose.linear());
     Vector3d rpy= RotationQuaternionToEulerVector(q);
-    LOG_EVERY_N(INFO, 1) << setprecision(15)
+    LOG_EVERY_N(INFO, 100) << setprecision(15)
               << " periodPose.front(): " << periodPose.front().timestamp
               << " periodPose.back(): " << periodPose.back().timestamp
               << " increasePose: " << increasePose.translation().transpose()
@@ -453,7 +460,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
 
     Quaterniond q(guess.linear());
     Vector3d rpy= RotationQuaternionToEulerVector(q);
-    LOG(INFO) << setprecision(15) << "cloud time: " << cloudInfo.timestamp
+    LOG_EVERY_N(INFO, 100) << setprecision(15) << "cloud time: " << cloudInfo.timestamp
               << " guessPose: " << guess.translation().transpose()
               << " rpy: " << rpy.transpose();
 //        pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + ".pcd", *cloudInfo.frame);