test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -266,6 +266,9 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
         guessPose.precision_type = MATCH_PRECISION_FULL;
 
         GnssPoint finalGnssPose;
+        if(!currMatcher_->IsMapLoaded(mapPose.translation().cast<double>())){
+            currMatcher_->loadArea(mapPose.translation().cast<double>());
+        }
         success = currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, mapPose);
         std::ofstream ofs(ieBaseDir_ + "/CloudPredictPose.txt", ios::app);
         ofs << setprecision(16) << cloudInfo.timestamp << ", " << mapPose.translation().x()