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multiTraj
Commit 03e2c139 authored by limingbo's avatar limingbo
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test

parent 0d177b48
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Showing with 10 additions and 5 deletions
apps/function/multi_traj_functions.cpp
View file @ 03e2c139
......@@ -236,6 +236,11 @@ void filterByPosition(
for(auto &filteredOneRet : filteredRet){
if(filteredOneRet.index == index){
filteredOneRet.periods.push_back(ret.at(index).periods.at(longestIndex.second));
PointCloudExport periodCloud =
getCloudFromPeriod(pointClouds.at(oneRet.index), filteredOneRet.periods.back());
pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredOneRet.trajPath) +
"_" + to_string(filteredOneRet.periods.back().first) +
".pcd", periodCloud);
findIndex = true;
break;
}
......@@ -246,6 +251,11 @@ void filterByPosition(
closeTrajInfo.periods.push_back(ret.at(index).periods.at(longestIndex.second));
closeTrajInfo.trajPath = ret.at(index).trajPath;
filteredRet.push_back(closeTrajInfo);
PointCloudExport periodCloud =
getCloudFromPeriod(pointClouds.at(oneRet.index), closeTrajInfo.periods.back());
pcl::io::savePCDFileBinary("/tmp/" + to_string(closeTrajInfo.trajPath) +
"_" + to_string(closeTrajInfo.periods.back().first) +
".pcd", periodCloud);
}
}
......@@ -301,11 +311,6 @@ vector<CloseTrajInfo> crossFilter(
end = query.info;
inPeriod = false;
timePeriods.push_back(make_pair(start, end));
PointCloudExport periodCloud =
getCloudFromPeriod(pointClouds.at(pcIndex), timePeriods.back());
pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[pcIndex].meshId) +
"_" + to_string(timePeriods.back().first) +
".pcd", periodCloud);
// LOG(INFO) << setprecision(15) << "end: " << end;
}
}
......
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