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