test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -131,7 +131,7 @@ void AdjustPPK::LoadPPK()
     rawData_ = ieReader->GetData();
     LOG(INFO) << "rawData_.size(): " << rawData_.size()
               << setprecision(15) << " begin: " << rawData_.front().unix_time
-              << " begin: " << rawData_.back().unix_time;
+              << " back: " << rawData_.back().unix_time;
 }
 
 void AdjustPPK::LoadMapInfo()
@@ -265,12 +265,12 @@ void AdjustPPK::Undisort(
     cloudInfo.filterPoseInfo.filterPose = framePose;
 }
 
-void AdjustPPK::ConfigMap(double timestamp)
+bool AdjustPPK::ConfigMap(double timestamp)
 {
     while(!ppkPeriodVec_.at(periodIndex_).InPeriod(timestamp)){
         periodIndex_++;
         if(periodIndex_ >= ppkPeriodVec_.size()){
-            return;
+            return false;
         }
         LOG(INFO) << "next period " << periodIndex_;
     }
@@ -280,10 +280,15 @@ void AdjustPPK::ConfigMap(double timestamp)
     }
     currMatcher_ = meshVec_.at(meshId).matcher;
     LOG(INFO) << "set currMatcher_: " << meshId;
+    return true;
 }
 
 bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
 {
+    if(!currMatcher_){
+        LOG(INFO) << "no currMatcher_!";
+        return false;
+    }
     static Isometry3f mapPose = Isometry3f::Identity();
     static uint32_t cnt = 0;
     bool success = true;

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.h

@@ -61,7 +61,7 @@ private:
 
     void Undisort(CloudPacket &baseFrame, CloudInfoForMatch &cloudInfo);
 
-    void ConfigMap(double timestamp);
+    bool ConfigMap(double timestamp);
 
     bool LocateCloud(const CloudInfoForMatch &cloudInfo);