test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -94,7 +94,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     pcl_conversions::fromPCL(cloud.header.stamp, rosTime);
     cloudPacket.timestamp = rosTime.toSec();
     cloudPacket.cloud.reserve(cloud.size());
-    LOG_EVERY_N(INFO, 99) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
+    LOG_EVERY_N(INFO, 1) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
               << " cloud.size()" << cloud.size()
               << " frontPTime " << cloud.front().timestamp
               << " backPTime " << cloud.back().timestamp;
@@ -106,8 +106,10 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
         point.z = p.z;
         point.intensity = p.intensity;
         point.time = p.timestamp;
+        LOG_EVERY_N(INFO, 1) << setprecision(15) << "p.timestamp: " << p.timestamp;
         cloudPacket.cloud.push_back(point);
     }
+    exit(0);
 
     CloudInfoForMatch cloudInfo;
     if(!Undisort(cloudPacket, cloudInfo)){