test

apps/function/multi_traj_functions.cpp

@@ -236,11 +236,6 @@ 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(ret.at(index).index), filteredOneRet.periods.back());
-                    pcl::io::savePCDFileBinary("/tmp/" + filteredOneRet.trajPath +
-                                               "_" + to_string(filteredOneRet.periods.back().first) +
-                                               ".pcd", periodCloud);
                     findIndex = true;
                     break;
                 }
@@ -251,11 +246,6 @@ 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(ret.at(index).index), closeTrajInfo.periods.back());
-                pcl::io::savePCDFileBinary("/tmp/" + closeTrajInfo.trajPath +
-                                           "_" + to_string(closeTrajInfo.periods.back().first) +
-                                           ".pcd", periodCloud);
             }
 
         }
@@ -327,6 +317,17 @@ vector<CloseTrajInfo> crossFilter(
         }
     }
     filterByPosition(ret, pointClouds);
+    for(size_t retIndex = 0;  retIndex < ret.size(); retIndex++){
+        const auto& oneRet = ret.at(retIndex);
+        for(size_t periodIndex = 0; periodIndex < oneRet.periods.size(); periodIndex++){
+
+            PointCloudExport periodCloud =
+                    getCloudFromPeriod(pointClouds.at(oneRet.index), oneRet.periods.at(periodIndex));
+            pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[oneRet.index].meshId) +
+                                       "_" + to_string(oneRet.periods.at(periodIndex).first) +
+                                       ".pcd", periodCloud);
+        }
+    }
     return ret;
 }