test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -206,14 +206,16 @@ bool Convert::processScan(
         const pandar_msgs::PandarScan::ConstPtr &scanMsg, PPointCloud &pc)
 {
     LOG(INFO) << "scanMsg->packets.size(): " << scanMsg->packets.size();
-    init();
+    if(0 == scanMsg->packets.size()){
+        return false;
+    }
+    if(!inited){
+        init(scanMsg->packets[0]);
+        inited = true;
+    }
     m_OutMsgArray[0]->clear();
     m_OutMsgArray[0]->resize(CIRCLE_ANGLE / m_iAngleSize * m_iLaserNum * m_iReturnBlockSize );
     for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
-        if(!inited){
-            init(scanMsg->packets[next]);
-            inited = true;
-        }
         calcPointXYZIT(scanMsg->packets[next], 0);
     }
     m_OutMsgArray[0]->header.frame_id = m_sFrameId;