test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -61,11 +61,9 @@ void AdjustPPK::ReadBag(const string &bagPath)
             viewIterator++;
             continue;
         }
-        LOG_EVERY_N(INFO, 1) << "processScan";
         PPointCloud cloud;
         if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
-            pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloud.header.stamp) + ".pcd", cloud);
-//            OnReceivedCloud(cloud);
+            OnReceivedCloud(cloud);
         }
     }
 }
@@ -98,6 +96,8 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
     cloudPacket.cloud.reserve(cloud.size());
     LOG(INFO) << setprecision(15) << "OnReceivedCloud: " << cloudPacket.timestamp
               << " cloud.size()" << cloud.size();
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+    return;
     for(const auto &p : cloud){
         PointInter point;
         point.x = p.x;