test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -390,10 +390,13 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
     }
     Isometry3f finalPose;
     float score = currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);
+    if(score < 0){
+        return false;
+    }
     mapPose_ = finalPose.cast<double>();
-//    if(score < 0.45){
-//        return false;
-//    }
+    if(score == 0){
+        return true;
+    }
     guessPose.map_point = mapPose_.cast<double>();
     guessPose.precision_type = MATCH_PRECISION_HIGH;
     currMatcher_->MatchPointCloud(cloudInfo.frame, guessPose, finalGnssPose, finalPose);
@@ -470,7 +473,7 @@ bool AdjustPPK::LoadMesh(const string &streamPath, boost::shared_ptr<VoxelMapMat
 
     LOG(INFO) << "mesh to load: " << streamPath;
     VoxelMapMatcherOption option;
-    option.option.filter_resolution = 0.9;
+    option.option.filter_resolution = 1.0;
     option.option.cloud_range = 80;
     option.fast_option.accepted_score = 0.35;
     option.fast_option.accepted_low_score = 0.45;