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localize_for_ppk
Commit f040eae6 authored by wangdawei's avatar wangdawei
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test

parent cdfd5fde
Pipeline #1530 canceled with stages
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      Showing with 33 additions and 14 deletions
      libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
      View file @ f040eae6
      ...@@ -129,26 +129,45 @@ void AdjustPPK::LoadPPK() ...@@ -129,26 +129,45 @@ void AdjustPPK::LoadPPK()
      void AdjustPPK::LoadMapInfo() 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"; string meshDir = mapDir_ + "/pcd_cart";
      if(is_directory(meshDir)){ if(is_directory(meshDir)){
      directory_iterator mesh_iter(meshDir); directory_iterator pcd_iter(meshDir);
      directory_iterator mesh_end_iter; directory_iterator pcd_end_iter;
      for(; mesh_iter != mesh_end_iter; mesh_iter++) { for(; pcd_iter != pcd_end_iter; pcd_iter++) {
      if (!is_directory(mesh_iter->path())){ if(pcd_iter->path().extension().string() != ".pcd"){
      continue; continue;
      } }
      string meshId = mesh_iter->path().stem().string(); auto fileName = pcd_iter->path().filename().string();
      MashMap meshMap; ulong meshId = stoi(split_string(fileName, '_').front());
      meshMap.pcdPathVec.reserve(10); if(meshVec_.find(meshId) == meshVec_.end()){
      directory_iterator pcd_iter(mesh_iter->path()); MashMap meshMap;
      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()); 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(); LOG(INFO) << "meshVec_.size(): " << meshVec_.size();
      ......
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