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localize_for_ppk
Commit baaf0e62 authored by wangdawei's avatar wangdawei
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test

parent 3cfe2e58
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Showing with 37 additions and 37 deletions
libs/voxel_map/libs/area/maparea.h
View file @ baaf0e62
......@@ -201,44 +201,44 @@ public:
}
auto ret = currMesh_->GetCellValue(type, index, length);
std::ofstream ofs;
ofs.open("/home/wdw/grid_use_" + to_string(type) + ".txt", std::ios::app);
int32_t blockIndexX = index.x.blockId;
int32_t blockIndexY = index.y.blockId;
uint32_t gridIndexX = index.x.gridId;
uint32_t gridIndexY = index.y.gridId;
Vector2f gridCenter;
gridCenter.x() = blockIndexX * 23.04 + (0.5 + gridIndexX) * 0.09 + currMesh_->GetOffset().x();
gridCenter.y() = blockIndexY * 23.04 + (0.5 + gridIndexY) * 0.09 + currMesh_->GetOffset().y();
// if(fabs(gridCenter.x() - (-0.045)) < 0.01
// && fabs(gridCenter.y() - 9.315) < 0.01){
// LOG(INFO) << "blockIndexX: " << blockIndexX << " blockIndexY: " << blockIndexY
// << " gridIndexX: " << gridIndexX << " gridIndexY: " << gridIndexY
// << " type: " << (uint16_t)type << " length: " << (uint16_t)length;
// std::ofstream ofs;
// ofs.open("/home/wdw/grid_use_" + to_string(type) + ".txt", std::ios::app);
// int32_t blockIndexX = index.x.blockId;
// int32_t blockIndexY = index.y.blockId;
// uint32_t gridIndexX = index.x.gridId;
// uint32_t gridIndexY = index.y.gridId;
// Vector2f gridCenter;
// gridCenter.x() = blockIndexX * 23.04 + (0.5 + gridIndexX) * 0.09 + currMesh_->GetOffset().x();
// gridCenter.y() = blockIndexY * 23.04 + (0.5 + gridIndexY) * 0.09 + currMesh_->GetOffset().y();
//// if(fabs(gridCenter.x() - (-0.045)) < 0.01
//// && fabs(gridCenter.y() - 9.315) < 0.01){
//// LOG(INFO) << "blockIndexX: " << blockIndexX << " blockIndexY: " << blockIndexY
//// << " gridIndexX: " << gridIndexX << " gridIndexY: " << gridIndexY
//// << " type: " << (uint16_t)type << " length: " << (uint16_t)length;
//// }
// if(ret == nullptr){
//// std::ofstream nullOfs;
//// nullOfs.open("/home/juefx/null_" + to_string(type) + ".txt", std::ios::app);
//// nullOfs << gridCenter.x() << "," << gridCenter.y() << "," << 0 << std::endl;
//// nullOfs.close();
// return nullptr;
// }
if(ret == nullptr){
// std::ofstream nullOfs;
// nullOfs.open("/home/juefx/null_" + to_string(type) + ".txt", std::ios::app);
// nullOfs << gridCenter.x() << "," << gridCenter.y() << "," << 0 << std::endl;
// nullOfs.close();
return nullptr;
}
for(int i = 0; i < length; i++){
for(int32_t j = 0;
j < (ret + i)->height / 3;
j++){
int32_t indexZ = j + (ret + i)->floor / 3;
float point[4];
point[0] = gridCenter.x();
point[1] = gridCenter.y();
point[2] = ((float)indexZ + 0.5) * 3 / 100;
point[3] = (ret + i)->intensity;
ofs << point[0] << "," << point[1] << ","
<< point[2] << "," << point[3] << std::endl;
}
}
ofs.close();
// for(int i = 0; i < length; i++){
// for(int32_t j = 0;
// j < (ret + i)->height / 3;
// j++){
// int32_t indexZ = j + (ret + i)->floor / 3;
// float point[4];
// point[0] = gridCenter.x();
// point[1] = gridCenter.y();
// point[2] = ((float)indexZ + 0.5) * 3 / 100;
// point[3] = (ret + i)->intensity;
// ofs << point[0] << "," << point[1] << ","
// << point[2] << "," << point[3] << std::endl;
// }
// }
// ofs.close();
return ret;
}
......
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