test

apps/function/multi_traj_functions.cpp

@@ -276,9 +276,9 @@ vector<CloseTrajInfo> crossFilter(
     pcl::octree::OctreePointCloudSearch<PointExport> octree(resolution);
     octree.setInputCloud(pointClouds.front());
     octree.addPointsFromInputCloud();
-    pcl::io::savePCDFileBinary("/home/juefx/" + to_string(filteredTaskInfo[0].meshId) + ".pcd", *pointClouds[0]);
+    pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[0].meshId) + ".pcd", *pointClouds[0]);
     for(size_t pcIndex = 1; pcIndex < pointClouds.size(); pcIndex++){
-        pcl::io::savePCDFileBinary("/home/juefx/" + to_string(filteredTaskInfo[pcIndex].meshId) + ".pcd", *pointClouds[pcIndex]);
+        pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[pcIndex].meshId) + ".pcd", *pointClouds[pcIndex]);
         bool found = false;
         bool inPeriod = false;
         uint64_t start = 0, end = 0;
@@ -301,6 +301,11 @@ 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;
                 }
             }