test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -206,10 +206,17 @@ bool Convert::processScan(
         const pandar_msgs::PandarScan::ConstPtr &scanMsg, PPointCloud &pc)
 {
     LOG(INFO) << "scanMsg->packets.size(): " << scanMsg->packets.size();
+    m_OutMsgArray[0]->clear();
+    m_OutMsgArray[0]->resize(CIRCLE_ANGLE / m_iAngleSize * m_iLaserNum * m_iReturnBlockSize );
     for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
-        pushLiDARData(scanMsg->packets[next]);
+        calcPointXYZIT(scanMsg->packets[next], 0);
     }
-    return processPacket(pc);
+    m_OutMsgArray[0]->header.frame_id = m_sFrameId;
+    m_OutMsgArray[0]->height = 1;
+    pcl_conversions::toPCL(ros::Time(m_dTimestamp),
+                           m_OutMsgArray[0]->header.stamp);
+    pc = *m_OutMsgArray[0];
+    return true;
 }
 
 int Convert::loadCorrectionFile(std::string correction_content) {
@@ -961,7 +968,7 @@ void Convert::changeReturnBlockSize() {
     m_iReturnBlockSize = LIDAR_RETURN_BLOCK_SIZE_1;
   }
 }
-void Convert::calcPointXYZIT(pandar_msgs::PandarPacket &packet, int cursor) {
+void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor) {
   if (packet.data[3] == 3){
 		Pandar128PacketVersion13 pkt;
 		memcpy(&pkt, &packet.data[0], sizeof(Pandar128PacketVersion13));

libs/locate_system/adjust_ppk_by_locate/convert.h

@@ -399,7 +399,7 @@ class Convert {
   void processGps(const pandar_msgs::PandarGps::ConstPtr &gpsMsg);
 
   int parseData(Pandar128PacketVersion13 &pkt, const uint8_t *buf, const int len);
-  void calcPointXYZIT(pandar_msgs::PandarPacket &pkt, int cursor);
+  void calcPointXYZIT(const pandar_msgs::PandarPacket &pkt, int cursor);
   void calcQT128PointXYZIT(pandar_msgs::PandarPacket &pkt, int cursor);
   void doTaskFlow(int cursor);
   void loadOffsetFile(std::string file);