test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -490,7 +490,7 @@ bool AdjustPPK::LoadMesh(const string &streamPath, boost::shared_ptr<VoxelMapMat
 
     LOG(INFO) << "mesh to load: " << streamPath;
     VoxelMapMatcherOption option;
-    option.option.filter_resolution = 0.8;
+    option.option.filter_resolution = 1.2;
     option.option.cloud_range = 80;
     option.fast_option.accepted_score = 0.4;
     option.fast_option.accepted_low_score = 0.5;

libs/voxel_map/libs/area/mesharea.cpp

@@ -160,20 +160,17 @@ void MeshArea::backendFunc(uint8_t type, Vector2d point)
 double MeshArea::AreaAvgGridCnt(const Vector3d &pose)
 {
     if(!inited_){
-        return false;
+        return 0;
     }
     double total = 0;
     Vector2i shiftedIndexToLoad =
             calShiftedIndex(pose.x(), pose.y());
-    for(unsigned int i = 0; i < loadNeighbors_.size(); i++){
-        Vector2i curr_index = shiftedIndexToLoad + loadNeighbors_[i];
-        const BlockContent &blockContent = blockAreaTable_[curr_index.x()][curr_index.y()];
-        if(blockContent.blockState == CurrMesh &&
-                blockContent.block->isLoad()){
-            total += blockContent.block->GetGridSize();
-        }
+    const BlockContent &blockContent = blockAreaTable_[shiftedIndexToLoad.x()][shiftedIndexToLoad.y()];
+    if(blockContent.blockState == CurrMesh &&
+            blockContent.block->isLoad()){
+        total = blockContent.block->GetGridSize();
     }
-    return total / loadNeighbors_.size();
+    return total;
 }
 
 void MeshArea::loadArea(const Vector2d &bl)