interpolate with no map

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -491,6 +491,15 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
     double avgGridCnt = currMatcher_->AreaAvgGridCnt(guess.translation());
     if(avgGridCnt < 20000){
         LOG(INFO) << "avgGridCnt < 20000! " << "avgGridCnt: " << avgGridCnt;
+        if(ppkIndex_ > 0){
+            double radio = 0.01;
+            const auto &localPPK = localPoseVec_.at(ppkIndex_ - 1);
+            mapPose_.translation() =
+                    localPPK.pose.translation() * radio +
+                    mapPose_.translation() * (1 - radio);
+            mapPose_.linear() =
+                    Quaterniond(mapPose_.linear()).slerp(radio, Quaterniond(localPPK.pose.linear())).toRotationMatrix();
+        }
         return false;
     }
     ofs << setprecision(16) << cloudInfo.timestamp << ", " << guess.translation().x()