test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -177,7 +177,7 @@ void AdjustPPK::CalLocalPose()
 {
     localPoseVec_.reserve(rawData_.size());
     LocalCartesian proj(center_.x(), center_.y(), center_.z());
-//    std::ofstream ofs(ieBaseDir_ + "/LocalPPK.txt", ios::app);
+    std::ofstream ofs("/home/juefx/wangdawei/LocalPPK.txt", ios::app);
     for(const IERawData& rawPPK : rawData_){
         IsometryData localPose;
         proj.Forward(rawPPK.latitude, rawPPK.longitude, rawPPK.height,
@@ -189,10 +189,10 @@ void AdjustPPK::CalLocalPose()
         localPoseVec_.emplace_back(localPose);
 //        LOG_EVERY_N(INFO, 10000) << "localPoseVec_.size(): " << localPoseVec_.size();
 
-//        ofs << setprecision(16) << localPose.timestamp << ", " << localPose.pose.translation().x()
-//            << ", " << localPose.pose.translation().y() << ", " << localPose.pose.translation().z() << endl;
+        ofs << setprecision(16) << localPose.timestamp << ", " << localPose.pose.translation().x()
+            << ", " << localPose.pose.translation().y() << ", " << localPose.pose.translation().z() << endl;
     }
-//    ofs.close();
+    ofs.close();
     LOG(INFO) << "localPoseVec_.size(): " << localPoseVec_.size();
 }
 
@@ -278,7 +278,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
     static uint32_t cnt = 0;
     bool success = true;
     GuessPose guessPose;
-    static std::ofstream ofs(ieBaseDir_ + "/CloudPredictPose.txt", ios::app);
+    static std::ofstream ofs("/home/juefx/wangdawei/CloudPredictPose.txt", ios::app);
     if(0 == cnt){
         mapPose = cloudInfo.filterPoseInfo.filterPose.cast<float>();
     }
@@ -308,7 +308,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
 
 void AdjustPPK::LoadMap()
 {
-    string outputDir = ieBaseDir_ + "/stream/";
+    string outputDir = "/home/juefx/wangdawei/stream/";
     if(!boost::filesystem::exists(outputDir)){
         boost::filesystem::create_directory(outputDir);
     }
@@ -352,6 +352,7 @@ void AdjustPPK::Compress(const vector<string> &pcdPathVec,
     BlockSerializer blockSerializer(meshLayer);
     blockSerializer.setOffset(dispatch->getOffset());
     blockSerializer.setOutputPath(streamPath);
+    blockSerializer.configSerialization();
 }
 
 void AdjustPPK::LoadMesh(const string &streamPath, MashMap &meshMap)