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localize_for_ppk
Commit d842cdc0 authored by wangdawei's avatar wangdawei
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test

parent a56d535e
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Showing with 5 additions and 2 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ d842cdc0
...@@ -72,7 +72,10 @@ void AdjustPPK::ReadBag(const string &bagPath) ...@@ -72,7 +72,10 @@ void AdjustPPK::ReadBag(const string &bagPath)
for(; viewIterator != view->end(); viewIterator++) for(; viewIterator != view->end(); viewIterator++)
{ {
const rosbag::MessageInstance &m = *viewIterator; const rosbag::MessageInstance &m = *viewIterator;
// LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec(); LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
if(m.getTime().toSec() < 1683762409){
continue;
}
if(!m.isType<pandar_msgs::PandarScan>()){ if(!m.isType<pandar_msgs::PandarScan>()){
continue; continue;
} }
...@@ -346,7 +349,7 @@ bool AdjustPPK::Undisort( ...@@ -346,7 +349,7 @@ bool AdjustPPK::Undisort(
cloudInfo.filterPoseInfo.filterPose = framePose; cloudInfo.filterPoseInfo.filterPose = framePose;
Quaterniond q(increasePose.linear()); Quaterniond q(increasePose.linear());
Vector3d rpy= RotationQuaternionToEulerVector(q); Vector3d rpy= RotationQuaternionToEulerVector(q);
LOG_EVERY_N(INFO, 10) << setprecision(15) LOG_EVERY_N(INFO, 1) << setprecision(15)
<< " periodPose.front(): " << periodPose.front().timestamp << " periodPose.front(): " << periodPose.front().timestamp
<< " periodPose.back(): " << periodPose.back().timestamp << " periodPose.back(): " << periodPose.back().timestamp
<< " increasePose: " << increasePose.translation().transpose() << " increasePose: " << increasePose.translation().transpose()
......
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