meshes.center

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -97,7 +97,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
 Vector3d AdjustPPK::ReadCenter(const string& taskName)
 {
     Vector3d center;
-    string centerPath = mapDir_ + taskName + "/" + taskName + "meshes.center.txt.txt";
+    string centerPath = mapDir_ + taskName + "/" + taskName + "meshes.center.txt";
     std::ifstream ifs(centerPath);
     string line;
     vector<string> line_vec;
@@ -232,6 +232,7 @@ void AdjustPPK::LoadMapInfo()
             auto taskCenter = ReadCenter(taskName);
             LOG(INFO) << taskName << " center_: " << taskCenter.transpose();
             string pcdDir = task_iter->path().string() + "/pcd_cart";
+            string meshInTask;
             if(is_directory(pcdDir)){
                 directory_iterator pcd_iter(pcdDir);
                 directory_iterator pcd_end_iter;
@@ -241,7 +242,10 @@ void AdjustPPK::LoadMapInfo()
                     }
                     auto fileName = pcd_iter->path().filename().string();
                     ulong meshId = stoi(split_string(fileName, '_').front());
-                    LOG(INFO) << "meshId: " << meshId;
+                    if(meshInTask.size()){
+                        meshInTask += ", ";
+                    }
+                    meshInTask += to_string(meshId);
                     PCDPathInfo pcdPathInfo;
                     pcdPathInfo.pcdPath = pcd_iter->path().string();
                     if(baseTaskName_ != taskName){
@@ -257,6 +261,7 @@ void AdjustPPK::LoadMapInfo()
                     }
                 }
             }
+            LOG(INFO) << "meshId: " << meshInTask;
         }
     }