fix ppkindex

7b615ee7 · wangdawei · 0d8d2025 · 7b615ee7
Commit 7b615ee7 authored Jun 02, 2023 by wangdawei
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adjust_ppk.cpp libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp +3 -1

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--- a/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+++ b/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
@@ -304,7 +304,9 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
        if(pose.timestamp > backPTime){
            break;
        }
-        mapPose_ = mapPose_ * (localPoseVec_.at(ppkIndex_ - 1).pose.inverse() * pose.pose);
+        if(ppkIndex_ > 0){
+            mapPose_ = mapPose_ * (localPoseVec_.at(ppkIndex_ - 1).pose.inverse() * pose.pose);
+        }
        Vector3d calibedBLH;
        proj_.Reverse(mapPose_.translation().x(),
                      mapPose_.translation().y(),