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localize_for_ppk
Commit c83adb5c authored by wangdawei's avatar wangdawei
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test

parent 0482b4f2
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Showing with 4 additions and 4 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ c83adb5c
...@@ -265,7 +265,7 @@ bool AdjustPPK::Undisort( ...@@ -265,7 +265,7 @@ bool AdjustPPK::Undisort(
return false; return false;
} }
LOG_EVERY_N(INFO, 10) << setprecision(15) LOG_EVERY_N(INFO, 10) << setprecision(15)
<< " frontPTime: " << frontPTime << "frontPTime: " << frontPTime
<< " backPTime: " << backPTime << " backPTime: " << backPTime
<< " periodPose.front(): " << periodPose.front().timestamp << " periodPose.front(): " << periodPose.front().timestamp
<< " periodPose.back(): " << periodPose.back().timestamp; << " periodPose.back(): " << periodPose.back().timestamp;
......
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ c83adb5c
...@@ -1267,9 +1267,9 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor ...@@ -1267,9 +1267,9 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i; point_index = (u16Azimuth - start_angle_) / m_iAngleSize * m_iLaserNum + i;
} }
if(m_OutMsgArray[cursor]->points[point_index].ring == 0){ if(m_OutMsgArray[cursor]->points[point_index].ring == 0){
// LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp LOG_EVERY_N(INFO, 1800) << std::setprecision(15) << "point.timestamp: " << point.timestamp
// << " point_index: " << point_index << " point_index: " << point_index
// << " azimuth: " << azimuth; << " azimuth: " << azimuth;
// m_OutMsgArray[cursor]->points[point_index] = point; // m_OutMsgArray[cursor]->points[point_index] = point;
m_OutMsgArray[cursor]->push_back(point); m_OutMsgArray[cursor]->push_back(point);
} }
......
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