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localize_for_ppk
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wangdawei
localize_for_ppk
Commits
ec46bb00
Commit
ec46bb00
authored
May 30, 2023
by
wangdawei
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test
parent
73904574
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+4
-2
adjust_ppk.cpp
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+4
-2
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @
ec46bb00
...
...
@@ -381,13 +381,15 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
ofs
<<
setprecision
(
16
)
<<
cloudInfo
.
timestamp
<<
", "
<<
mapPose_
.
translation
().
x
()
<<
", "
<<
mapPose_
.
translation
().
y
()
<<
", "
<<
mapPose_
.
translation
().
z
()
<<
endl
;
guessPose
.
precision_type
=
MATCH_PRECISION_FAST
;
float
score
=
currMatcher_
->
MatchPointCloud
(
cloudInfo
.
frame
,
guessPose
,
finalGnssPose
,
mapPose_
.
cast
<
float
>
());
Isometry3f
finalPose
;
float
score
=
currMatcher_
->
MatchPointCloud
(
cloudInfo
.
frame
,
guessPose
,
finalGnssPose
,
finalPose
);
if
(
score
<
0.45
){
return
false
;
}
guessPose
.
map_point
=
mapPose_
.
cast
<
double
>
();
guessPose
.
precision_type
=
MATCH_PRECISION_HIGH
;
currMatcher_
->
MatchPointCloud
(
cloudInfo
.
frame
,
guessPose
,
finalGnssPose
,
mapPose_
.
cast
<
float
>
());
currMatcher_
->
MatchPointCloud
(
cloudInfo
.
frame
,
guessPose
,
finalGnssPose
,
finalPose
);
mapPose_
=
finalPose
.
cast
<
double
>
();
return
true
;
}
...
...
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