map dir

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -93,7 +93,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
 
 void AdjustPPK::ReadCenter()
 {
-    string centerPath = mapDir_ + "/2329_station_jf.txt";
+    string centerPath = mapDir_ + "/2329/2329_station_jf.txt";
     std::ifstream ifs(centerPath);
     string line;
     vector<string> line_vec;
@@ -207,25 +207,52 @@ void AdjustPPK::LoadMapInfo()
 //            meshVec_.insert(make_pair(ulong(stoi(meshId)), meshMap));
 //        }
 //    }
-    string meshDir = mapDir_ + "/pcd_cart";
-    if(is_directory(meshDir)){
-        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;
-            }
-            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(meshId, meshMap));
-            }else{
-                meshVec_.at(meshId).pcdPathVec.push_back(pcd_iter->path().string());
+    if(is_directory(mapDir_)){
+        directory_iterator mesh_iter(mapDir_);
+        directory_iterator mesh_end_iter;
+        for(; mesh_iter != mesh_end_iter; mesh_iter++) {
+            string meshDir = mesh_iter->path().string() + "/pcd_cart";
+            if(is_directory(meshDir)){
+                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;
+                    }
+                    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(meshId, meshMap));
+                    }else{
+                        meshVec_.at(meshId).pcdPathVec.push_back(pcd_iter->path().string());
+                    }
+                }
             }
         }
     }
+
+//    string meshDir = mapDir_ + "/pcd_cart";
+//    if(is_directory(meshDir)){
+//        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;
+//            }
+//            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(meshId, meshMap));
+//            }else{
+//                meshVec_.at(meshId).pcdPathVec.push_back(pcd_iter->path().string());
+//            }
+//        }
+//    }
+
     LOG(INFO) << "meshVec_.size(): " << meshVec_.size();
 }