revert to before test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -83,10 +83,10 @@ void AdjustPPK::ReadBag(const string &bagPath)
             continue;
         }
         PPointCloud cloud;
-//        if(cloudCnt_ % 20 != 0){
-//            cloudCnt_++;
-//            continue;
-//        }
+        if(cloudCnt_ % 20 != 0){
+            cloudCnt_++;
+            continue;
+        }
         if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
             OnReceivedCloud(cloud);
         }
@@ -126,12 +126,12 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 //    }
     double backPTime = cloud.back().timestamp;
     double frontPTime = cloud.front().timestamp;
-//    if(frontPTime < localPoseVec_.front().timestamp){
-//        return;
-//    }
-//    if(backPTime > localPoseVec_.back().timestamp){
-//        return;
-//    }
+    if(frontPTime < localPoseVec_.front().timestamp){
+        return;
+    }
+    if(backPTime > localPoseVec_.back().timestamp){
+        return;
+    }
     vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
     CloudPacket cloudPacket;
     ros::Time rosTime;
@@ -143,8 +143,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 //              << " frontPTime: " << cloud.front().timestamp
 //              << " backPTime: " << cloud.back().timestamp;
 
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudPacket.timestamp) + "_ori.pcd", cloud);
-    exit(0);
+
     for(size_t i = 0; i < cloud.size(); i++){
         if(i % 5 != 0){
             continue;