skipCnt by match result

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -42,6 +42,7 @@ AdjustPPK::AdjustPPK(const string &ieBaseDir, const string &mapDir)
     LOG(INFO) << "calib_: " << calib_.translation().transpose()
               << " rpy: " << rpy.transpose();
     trd_.reset(new boost::thread(boost::bind(&AdjustPPK::LoadMap, this)));
+    skipCnt_ = 20;
 }
 
 AdjustPPK::~AdjustPPK()
@@ -85,7 +86,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
             continue;
         }
         PPointCloud cloud;
-        if(cloudCnt_ % 20 != 0){
+        if(cloudCnt_ % skipCnt_ != 0){
             cloudCnt_++;
             continue;
         }
@@ -534,9 +535,10 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
         guessPose.precision_type = MATCH_PRECISION_INIT;
         currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);
         mapPose_ = finalPose.cast<double>();
+        skipCnt_ = 5;
         return true;
     }
-
+    skipCnt_ = 20;
     guessPose.map_point = finalPose.cast<double>();
     guessPose.precision_type = MATCH_PRECISION_HIGH;
     currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.h

@@ -129,6 +129,8 @@ private:
     bool requestQuit_ = false;
 
     string baseTaskName_;
+
+    uint16_t skipCnt_;
 };
 
 } // end of namespace