test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -11,6 +11,11 @@ AdjustPPK::AdjustPPK(const string &ieBaseDir, const string &mapDir)
 {
     LOG(INFO) << "ieBaseDir_: " << ieBaseDir_;
     LOG(INFO) << "mapDir_: " << mapDir_;
+    if(!boost::filesystem::exists(ieBaseDir_ + "/baseCloud/")){
+        boost::filesystem::create_directory(ieBaseDir_ + "/baseCloud/");
+    }else{
+        system(string("rm " + ieBaseDir_ + "/baseCloud/*").c_str());
+    }
     ReadCenter();
     LoadPPK();
     LoadMapInfo();
@@ -340,7 +345,7 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
         guessPose.rotation = fabs(increaseRpy.z());
         guessPose.use_gnss = false;
         guessPose.precision_type = MATCH_PRECISION_FULL;
-
+        pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + ".pcd", *cloudInfo.frame);
         GnssPoint finalGnssPose;
         if(!currMatcher_->IsMapLoaded(mapPose.translation().cast<double>())){
             currMatcher_->loadArea(mapPose.translation().cast<double>());