test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -72,9 +72,6 @@ void AdjustPPK::ReadBag(const string &bagPath)
         if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
             OnReceivedCloud(cloud);
         }
-        if(m.getTime().toSec() > 1683806270.0){
-            exit(0);
-        }
     }
 }
 
@@ -109,6 +106,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
               << " cloud.size(): " << cloud.size()
               << " frontPTime: " << cloud.front().timestamp
               << " backPTime: " << cloud.back().timestamp;
+    if(cloudPacket.timestamp > 1683806270.0){
+        exit(0);
+    }
 //    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + ".pcd", cloud);
     for(const auto &p : cloud){
         PointInter point;
@@ -273,7 +273,7 @@ bool AdjustPPK::Undisort(
         }
         periodPose.emplace_back(pose);
     }
-    LOG(INFO) << "periodPose.size(): " << periodPose.size();
+//    LOG(INFO) << "periodPose.size(): " << periodPose.size();
     if(periodPose.size() < 2){
         return false;
     }

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.h

@@ -104,6 +104,8 @@ private:
     Isometry3d calib_ = Isometry3d::Identity();
 
     Vector3d center_ = Vector3d::Zero();
+
+    uint32_t cloudCnt_ = 0;
 };
 
 } // end of namespace