test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -69,7 +69,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
             continue;
         }
         PPointCloud cloud;
-        if(cloudCnt_ % 10 != 0){
+        if(cloudCnt_ % 20 != 0){
             cloudCnt_++;
             continue;
         }
@@ -150,7 +150,7 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 
     PointCloudJ mathedCloud;
     pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>());
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud);
 }
 
 void AdjustPPK::LoadPPK()
@@ -324,13 +324,13 @@ bool AdjustPPK::Undisort(
         return false;
     }
     PointCloudInter::Ptr frame = GetBaseFrame(rawFrame);
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.cloud.front().time) + "_base.pcd", *frame);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.cloud.front().time) + "_base.pcd", *frame);
     Isometry3d framePose, increasePose;
     PointCloudJ::Ptr undisortedFrame(new PointCloudJ);
     PointCloudJ mappedFrame;
     CloudPreprocess::Instance()->Undisort(
                             frame, undisortedFrame, &mappedFrame, periodPose.back().timestamp, &periodPose, framePose, increasePose);
-    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
+//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(rawFrame.timestamp) + "_mapped.pcd", mappedFrame);
     cloudInfo.frame = undisortedFrame;
     cloudInfo.filterPoseInfo.increasePose = increasePose;
     cloudInfo.timestamp = rawFrame.timestamp;