test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -125,7 +125,7 @@ Convert::Convert(const std::string &firetimeFile, const std::string &correctionF
   m_iFirstAzimuthIndex = 0;
   m_iLastAzimuthIndex = 0;
   m_iTotalPointsNum = 0;
-  m_bClockwise = false;
+  m_bClockwise = true;
 
   hasGps = 0;
   // subscribe to PandarScan packets
@@ -1143,6 +1143,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
 				else if(azimuthIdx < 0) {
 					azimuthIdx += CIRCLE;
                 }
+                azimuthIdx = CIRCLE - azimuthIdx;
 				point.x = xyDistance * m_fSinAllAngle[azimuthIdx];
 				point.y = xyDistance * m_fCosAllAngle[azimuthIdx];
 				point.z = distance * m_fSinAllAngle[pitchIdx];