test

apps/localize_ppk.cpp

@@ -54,7 +54,7 @@ int main(int argc, char *argv[])
     FLAGS_stderrthreshold = 0;
     FLAGS_logbufsecs = 0;
 
-    pandar_pointcloud::Convert::SetEnvironmentVariableTZ();
+//    pandar_pointcloud::Convert::SetEnvironmentVariableTZ();
 
     if(boost::filesystem::exists(FLAGS_ie_base_dir)){
         FLAGS_log_dir = FLAGS_ie_base_dir + "/log";

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -148,9 +148,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 
     LocateCloud(cloudInfo);
 
-//    PointCloudJ mathedCloud;
-//    pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>());
-//    pcl::io::savePCDFileBinary(ieBaseDir_ + "/baseCloud/" + to_string(cloudInfo.timestamp) + "_matched.pcd", mathedCloud);
+    PointCloudJ mathedCloud;
+    pcl::transformPointCloud(*cloudInfo.frame, mathedCloud, mapPose_.cast<float>());
+    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_ + "/" + 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, rawFrame.cloud.back().time, &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;

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -191,7 +191,7 @@ Convert::Convert(const std::string &firetimeFile, const std::string &correctionF
   loadOffsetFile(
       m_sLidarFiretimeFile);  // parameter is the path of lidarFiretimeFil
 
-  SetEnvironmentVariableTZ();
+//  SetEnvironmentVariableTZ();
 
 
 //  boost::thread processThr(boost::bind(&Convert::processLiDARData, this));

libs/voxel_map/libs/area/mesharea.cpp

@@ -266,6 +266,10 @@ bool MeshArea::checkBlockAtAreaToLoad(
     Vector2i centerIndex(shiftedIndexToCheck.x(), shiftedIndexToCheck.y());
     for(unsigned int i = 0; i < checkNeighbors_.size(); i++){
         Vector2i curr_index = centerIndex + checkNeighbors_[i];
+        if(curr_index.x() < 0 || curr_index.x() >= rowItemCnt_ ||
+                curr_index.y() < 0 || curr_index.y() >= colItemCnt_){
+            continue;
+        }
         const BlockContent &blockContent = blockAreaTable_[curr_index.x()][curr_index.y()];
         if(blockContent.blockState == NoneCheck){
             return false;