v1.0

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -253,8 +253,10 @@ void AdjustPPK::CalPPKPeriod()
             if(period.startTime > 0){
                 period.endTime = rawPPK.unix_time;
                 period.endId = i - 1;
+                LOG(INFO) << setprecision(15) << "period.meshId: " << period.meshId
+                          << " period.startTime: " << period.startTime
+                          << " period.endId: " << period.endId;
                 ppkPeriodVec_.emplace_back(period);
-                LOG(INFO) << "period.meshId: " << period.meshId;
             }
             period.startTime = rawPPK.unix_time;
             period.startId = i;

libs/voxel_map/libs/area/mesharea.cpp

@@ -172,9 +172,13 @@ double MeshArea::AreaAvgGridCnt(const Vector3d &pose)
             calShiftedIndex(pose.x(), pose.y());
     for(unsigned int i = 0; i < checkGridNeighbors_.size(); i++){
         Vector2i curr_index = shiftedIndexToLoad + checkGridNeighbors_[i];
+        if(curr_index.x() < 0 || curr_index.x() >= rowItemCnt_ ||
+                curr_index.y() < 0 || curr_index.y() >= colItemCnt_){
+            continue;
+        }
         const BlockContent &blockContent = blockAreaTable_[curr_index.x()][curr_index.y()];
-        if(blockContent.blockState == CurrMesh &&
-                blockContent.block->isLoad()){
+        if(blockContent.blockState == CurrMesh && blockContent.block
+                && blockContent.block->isLoad()){
             total += blockContent.block->GetGridSize();
         }
     }