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localize_for_ppk
Commit 4f9eeeb3 authored by wangdawei's avatar wangdawei
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test

parent dfd6f7ef
Pipeline #1540 canceled with stages
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      Showing with 25 additions and 19 deletions
      libs/voxel_map/libs/area/maparea.cpp
      View file @ 4f9eeeb3
      ...@@ -117,27 +117,33 @@ void MapArea::init() ...@@ -117,27 +117,33 @@ void MapArea::init()
      map<ulong, MapArea::MeshInfo> MapArea::getMeshInfoMap() map<ulong, MapArea::MeshInfo> MapArea::getMeshInfoMap()
      { {
      directory_iterator mesh_iter(mapPath_); // directory_iterator mesh_iter(mapPath_);
      directory_iterator mesh_end_iter; // directory_iterator mesh_end_iter;
      // map<ulong, MeshInfo> meshInfoMap;
      // for(; mesh_iter != mesh_end_iter; mesh_iter++) {
      // if(mesh_iter->path().extension().string() != ".stream"){
      // continue;
      // }
      // string mesh_path = mesh_iter->path().string();
      // string mesh_name = mesh_iter->path().stem().string();
      // ulong meshId = 000;
      // try {
      // meshId = stoi(mesh_name);
      // }
      // catch (std::invalid_argument&){
      // LOG(INFO) << "header.mesh_id() is not int";
      // }
      // MeshInfo meshInfo;
      // meshInfo.meshId = meshId;
      // meshInfo.meshPath = mesh_path;
      // meshInfoMap.insert(make_pair(meshId, meshInfo));
      // }
      map<ulong, MeshInfo> meshInfoMap; map<ulong, MeshInfo> meshInfoMap;
      for(; mesh_iter != mesh_end_iter; mesh_iter++) {
      if(mesh_iter->path().extension().string() != ".stream"){
      continue;
      }
      string mesh_path = mesh_iter->path().string();
      string mesh_name = mesh_iter->path().stem().string();
      ulong meshId = 000;
      try {
      meshId = stoi(mesh_name);
      }
      catch (std::invalid_argument&){
      LOG(INFO) << "header.mesh_id() is not int";
      }
      MeshInfo meshInfo; MeshInfo meshInfo;
      meshInfo.meshId = meshId; meshInfo.meshId = stoi(path(mapPath_).stem().string());
      meshInfo.meshPath = mesh_path; meshInfo.meshPath = mapPath_;
      meshInfoMap.insert(make_pair(meshId, meshInfo)); meshInfoMap.insert(make_pair(meshInfo.meshId, meshInfo));
      }
      return meshInfoMap; return meshInfoMap;
      } }
      ......
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