test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -129,26 +129,45 @@ void AdjustPPK::LoadPPK()
 
 void AdjustPPK::LoadMapInfo()
 {
+//    string meshDir = mapDir_ + "/mesh";
+//    if(is_directory(meshDir)){
+//        directory_iterator mesh_iter(meshDir);
+//        directory_iterator mesh_end_iter;
+//        for(; mesh_iter != mesh_end_iter; mesh_iter++) {
+//            if (!is_directory(mesh_iter->path())){
+//                continue;
+//            }
+//            string meshId = mesh_iter->path().stem().string();
+//            MashMap meshMap;
+//            meshMap.pcdPathVec.reserve(10);
+//            directory_iterator pcd_iter(mesh_iter->path());
+//            directory_iterator pcd_end_iter;
+//            for(; pcd_iter != pcd_end_iter; pcd_iter++) {
+//                if(pcd_iter->path().extension().string() != ".pcd"){
+//                    continue;
+//                }
+//                meshMap.pcdPathVec.push_back(pcd_iter->path().string());
+//            }
+//            meshVec_.insert(make_pair(ulong(stoi(meshId)), meshMap));
+//        }
+//    }
     string meshDir = mapDir_ + "/pcd_cart";
     if(is_directory(meshDir)){
-        directory_iterator mesh_iter(meshDir);
-        directory_iterator mesh_end_iter;
-        for(; mesh_iter != mesh_end_iter; mesh_iter++) {
-            if (!is_directory(mesh_iter->path())){
+        directory_iterator pcd_iter(meshDir);
+        directory_iterator pcd_end_iter;
+        for(; pcd_iter != pcd_end_iter; pcd_iter++) {
+            if(pcd_iter->path().extension().string() != ".pcd"){
                 continue;
             }
-            string meshId = mesh_iter->path().stem().string();
-            MashMap meshMap;
-            meshMap.pcdPathVec.reserve(10);
-            directory_iterator pcd_iter(mesh_iter->path());
-            directory_iterator pcd_end_iter;
-            for(; pcd_iter != pcd_end_iter; pcd_iter++) {
-                if(pcd_iter->path().extension().string() != ".pcd"){
-                    continue;
-                }
+            auto fileName = pcd_iter->path().filename().string();
+            ulong meshId = stoi(split_string(fileName, '_').front());
+            if(meshVec_.find(meshId) == meshVec_.end()){
+                MashMap meshMap;
                 meshMap.pcdPathVec.push_back(pcd_iter->path().string());
+                meshVec_.insert(make_pair(ulong(stoi(meshId)), meshMap));
+            }else{
+                meshVec_.at(meshId).pcdPathVec.push_back(pcd_iter->path().string());
             }
-            meshVec_.insert(make_pair(ulong(stoi(meshId)), meshMap));
         }
     }
     LOG(INFO) << "meshVec_.size(): " << meshVec_.size();