test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -32,8 +32,8 @@ AdjustPPK::AdjustPPK(const string &ieBaseDir, const string &mapDir)
             00.0026234, -0.0006643, 00.9999963, 00.2500000,
             00.0000000, 00.0000000, 00.0000000, 01.0000000;
 
-    calib_.translation() = m.block(0, 3, 3, 1);
-    calib_.linear() = m.block(0, 0, 3, 3);
+//    calib_.translation() = m.block(0, 3, 3, 1);
+//    calib_.linear() = m.block(0, 0, 3, 3);
     boost::thread trd(boost::bind(&AdjustPPK::LoadMap, this));
 }
 
@@ -103,13 +103,14 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
               << " cloud.size(): " << cloud.size()
               << " frontPTime: " << cloud.front().timestamp
               << " backPTime: " << cloud.back().timestamp;
-    if(cloudPacket.timestamp < 1683806268.0){
-        return;
-    }
-    if(cloudPacket.timestamp > 1683806270.0){
-        exit(0);
-    }
-//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+//    if(cloudPacket.timestamp < 1683806268.0){
+//        return;
+//    }
+//    if(cloudPacket.timestamp > 1683806270.0){
+//        exit(0);
+//    }
+    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
+    exit(0);
     for(const auto &p : cloud){
         PointInter point;
         point.x = p.x;