test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -385,7 +385,7 @@ void AdjustPPK::LoadMap()
             LOG(INFO) << "mesh exist: " << meshId;
         }
 
-        LoadMesh(streamPath, meshInfo);
+        LoadMesh(streamPath, meshInfo.matcher);
         LOG(INFO) << "mesh loaded: " << meshId;
     }
 }
@@ -413,7 +413,7 @@ void AdjustPPK::Compress(const vector<string> &pcdPathVec,
     blockSerializer.configSerialization();
 }
 
-void AdjustPPK::LoadMesh(const string &streamPath, MashMap &meshMap)
+void AdjustPPK::LoadMesh(const string &streamPath, boost::shared_ptr<VoxelMapMatcher> matcher)
 {
     if(!boost::filesystem::exists(streamPath)){
         return;
@@ -423,8 +423,8 @@ void AdjustPPK::LoadMesh(const string &streamPath, MashMap &meshMap)
     option.option.cloud_range = 80;
     option.fast_option.accepted_score = 0.45;
     option.fast_option.accepted_low_score = 0.55;
-    meshMap.matcher.reset(new VoxelMapMatcher(option));
-    meshMap.matcher->SetMapPath(streamPath);
+    matcher.reset(new VoxelMapMatcher(option));
+    matcher->SetMapPath(streamPath);
 }
 
 } // end of namespace

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.h

@@ -77,7 +77,7 @@ private:
                   const string &streamPath);
 
     void LoadMesh(const string &streamPath,
-                  MashMap &meshMap);
+                  boost::shared_ptr<VoxelMapMatcher> matcher);
 private:
     string ieBaseDir_;