test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -128,7 +128,11 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 //    }
 //    pcl::io::savePCDFileBinary(ieBaseDir_ + "/" + to_string(cloudPacket.timestamp) + "_raw.pcd", cloud);
 //    exit(0);
-    for(const auto &p : cloud){
+    for(size_t i = 0; i < cloud.size(); i++){
+        if(i % 5 != 0){
+            continue;
+        }
+        const auto &p = cloud.at(i);
         PointInter point;
         point.x = p.x;
         point.y = p.y;
@@ -493,7 +497,7 @@ bool AdjustPPK::LoadMesh(const string &streamPath, boost::shared_ptr<VoxelMapMat
 
     LOG(INFO) << "mesh to load: " << streamPath;
     VoxelMapMatcherOption option;
-    option.option.filter_resolution = 1.2;
+    option.option.filter_resolution = 0.5;
     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/blockarea.cpp

@@ -81,6 +81,7 @@ void BlockArea::parseBitmapBlock(
 {
     vector<uint32_t> activeGridIndexes =
             parseBitMap(blockInfo.bit_map(), blockInfo.bit_map_size());
+    activeGridSize_ = activeGridIndexes.size();
     vector<pair<uint32_t, uint32_t>> shiftedAndFeatureVec;
     distributionVec_.reserve(activeGridIndexes.size() * 60);
     hashMap_.reserve(activeGridIndexes.size() * 15);
@@ -103,6 +104,7 @@ void BlockArea::parseIndexBlock(
         const BlockInfo &blockInfo)
 {
     uint32_t gridFeatureIndexSize = blockInfo.grid_feature_index_size();
+    activeGridSize_ = gridFeatureIndexSize;
     distributionVec_.reserve(gridFeatureIndexSize * 60);
     hashMap_.reserve(gridFeatureIndexSize * 15);
     vector<pair<uint32_t, uint32_t>> shiftedAndFeatureVec;

libs/voxel_map/libs/area/blockarea.h

@@ -69,7 +69,7 @@ public:
     }
 
     inline size_t GetGridSize(){
-        return hashMap_.size();
+        return activeGridSize_;
     }
 private:
     void parseBitmapBlock(const BlockInfo &blockInfo);
@@ -114,6 +114,8 @@ private:
     vector<double> plainParams_;
 
     bool plainParamValid_ = false;
+
+    uint32_t activeGridSize_;
 };
 
 }