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localize_for_ppk
Commit f1bcf061 authored by wangdawei's avatar wangdawei
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test

parent e83095cb
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libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ f1bcf061
......@@ -106,7 +106,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
point.z = p.z;
point.intensity = p.intensity;
point.time = p.timestamp;
LOG_EVERY_N(INFO, 1000) << setprecision(15) << "p.timestamp: " << p.timestamp;
// LOG_EVERY_N(INFO, 1000) << setprecision(15) << "p.timestamp: " << p.timestamp;
cloudPacket.cloud.push_back(point);
}
exit(0);
......
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ f1bcf061
......@@ -1239,7 +1239,7 @@ void Convert::calcPointXYZIT(const pandar_msgs::PandarPacket &packet, int cursor
unix_second + (static_cast<double>(tail->nTimestamp)) / 1000000.0;
// ROS_WARN("#####block.fAzimuth[%u]",tail->nShutdownFlag);
// LOG(INFO) << std::setprecision(15) << "point.timestamp 1: " << point.timestamp;
LOG(INFO) << std::setprecision(15) << "unix_second: " << unix_second;
point.timestamp =
point.timestamp +
m_objLaserOffset.getBlockTS(blockid, tail->nReturnMode, mode, header->u8LaserNum) /
......
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