test

apps/function/multi_traj_functions.cpp

@@ -19,32 +19,35 @@ vector<string> getCloseTasks(
         if(!is_directory(rawTraceDir)){
             continue;
         }
-        string iePath = rawTraceDir + "/sample.gps";
-        if(!exists(iePath)){
+        string trajPath = rawTraceDir + "/sample.gps";
+        if(!exists(trajPath)){
+           trajPath = rawTraceDir + "/ie.txt";;
+        }
+        if(!exists(trajPath)){
             continue;
         }
-        if(currTraj->getTrajPath() == iePath){
+        if(currTraj->getTrajPath() == trajPath){
             continue;
         }
 
         TrajPoint trajPoint;
-        if(getFstTraj(iePath, trajPoint, proj)){
+        if(!getFstTraj(trajPath, trajPoint, proj)){
             continue;
         }
         if(trajPoint.translation.norm() > 30000){
             continue;
         }
-        closeTasks.push_back(iePath);
+        closeTasks.push_back(trajPath);
     }
     return closeTasks;
 }
 
-bool getFstTraj(const string &iePath,
+bool getFstTraj(const string &trajPath,
                 TrajPoint& trajPoint,
                 boost::shared_ptr<LocalCartesian> proj){
-    std::ifstream ifs(iePath);
+    std::ifstream ifs(trajPath);
     if(!ifs){
-        LOG(WARNING) << iePath << " load fail!";
+        LOG(WARNING) << trajPath << " load fail!";
         return false;
     }
     string line;
@@ -111,16 +114,16 @@ vector<string> getCrossTasks(
 }
 
 vector<boost::shared_ptr<Trajectory>> multiThreadInitTrajectory(
-        const vector<string> &iePaths)
+        const vector<string> &trajPaths)
 {
     vector<ThreadPtr> thread_vec;
     vector<boost::shared_ptr<Trajectory>> trajectories;
-    trajectories.resize(iePaths.size());
-    for(uint8_t thread_index = 0; thread_index < iePaths.size(); thread_index++){
+    trajectories.resize(trajPaths.size());
+    for(uint8_t thread_index = 0; thread_index < trajPaths.size(); thread_index++){
 //        thread_vec.emplace_back(ThreadPtr(new boost::thread(boost::bind(&initTrajectory,
 //                                                                        iePaths[thread_index],
 //                                                                        trajectories[thread_index]))));
-        initTrajectory(iePaths[thread_index], trajectories[thread_index]);
+        initTrajectory(trajPaths[thread_index], trajectories[thread_index]);
     }
     for(uint8_t thread_index = 0; thread_index < thread_vec.size(); thread_index++){
         thread_vec[thread_index]->join();
@@ -129,12 +132,19 @@ vector<boost::shared_ptr<Trajectory>> multiThreadInitTrajectory(
     return trajectories;
 }
 
-void initTrajectory(
-        const string &iePath,
+bool initTrajectory(
+        const string &trajPath,
         boost::shared_ptr<Trajectory> &trajectory)
 {
-    trajectory.reset(new Trajectory(iePath, PPK));
+    if(boost::filesystem::path(trajPath).stem() == "ie.txt"){
+        trajectory.reset(new Trajectory(trajPath, PPK));
+    }else if(boost::filesystem::path(trajPath).stem() == "sample.gps"){
+        trajectory.reset(new Trajectory(trajPath, PPK, 10));
+    }else{
+        return false;
+    }
     trajectory->init();
+    return true;
 }
 
 vector<PointCloudExport::Ptr> multiThreadGetPointCloud(
@@ -162,6 +172,9 @@ void getPointCloud(boost::shared_ptr<LocalCartesian> proj,
         boost::shared_ptr<Trajectory> &trajectory,
         PointCloudExport::Ptr& pointCloud)
 {
+    if(!trajectory){
+        return;
+    }
     vector<TrajPoint> traj = trajectory->getTrajectory();
     for(const TrajPoint& trajPoint : traj){
         PointExport point;

apps/function/multi_traj_functions.h

@@ -9,7 +9,7 @@ vector<string> getCloseTasks(
         const string &parentPath,
         boost::shared_ptr<Trajectory> currTraj);
 
-bool getFstTraj(const string &iePath,
+bool getFstTraj(const string &trajPath,
                 TrajPoint& trajPoint,
                 boost::shared_ptr<LocalCartesian> proj);
 
@@ -17,10 +17,9 @@ vector<string> getCrossTasks(
         const vector<string> &closeTasks,
         boost::shared_ptr<Trajectory> currTraj);
 
-vector<boost::shared_ptr<Trajectory>> multiThreadInitTrajectory(
-        const vector<string> &iePaths);
+vector<boost::shared_ptr<Trajectory>> multiThreadInitTrajectory(const vector<string> &trajPaths);
 
-void initTrajectory(const string &iePath,
+bool initTrajectory(const string &trajPath,
         boost::shared_ptr<Trajectory> &trajectory);
 
 vector<PointCloudExport::Ptr> multiThreadGetPointCloud(

apps/multi_traj.cpp

@@ -25,8 +25,15 @@ int main(int argc, char *argv[])
     FLAGS_logbufsecs = 0;
 
     string ppk_dir_ = FLAGS_base_dir + "/raw_trace/sample.gps";
-
-    ppk_traj_.reset(new Trajectory(ppk_dir_, PPK));
+    if(exists(ppk_dir_)){
+        ppk_traj_.reset(new Trajectory(ppk_dir_, PPK, 10));
+    }else {
+        ppk_dir_ = FLAGS_base_dir + "/raw_trace/ie.txt";
+        if(!exists(ppk_dir_)){
+            return 0;
+        }
+        ppk_traj_.reset(new Trajectory(ppk_dir_, PPK));
+    }
     ppk_traj_->init();
     LOG(INFO) << "Trajectory load done!";
 

libs/trajectory/trajectory.cpp

@@ -5,9 +5,13 @@ uint16_t MAX_REVERSE_CNT = 1;
 uint16_t MIN_PPK_LINE_ITEM_CNT = 12;
 uint16_t MIN_NODE_LINE_ITEM_CNT = 10;
 
-Trajectory::Trajectory(const string &traj_path, const TrajType &trajType)
+Trajectory::Trajectory(
+        const string &traj_path,
+        const TrajType &trajType,
+        uint32_t frequency)
     :trajectory_path_(traj_path),
-      trajType_(trajType)
+      trajType_(trajType),
+      frequency_(frequency)
 {
 
 }
@@ -20,16 +24,19 @@ Trajectory::~Trajectory()
 bool Trajectory::init()
 {
     string range;
-    switch(trajType_){
-    case PPK:
-        frequency_ = 1000;
-        range = ",";
-        break;
-    case NODE:
-        frequency_ = 10;
-        range = " ";
-        break;
+    if(frequency_ != 0){
+        switch(trajType_){
+        case PPK:
+            frequency_ = 1000;
+            range = ",";
+            break;
+        case NODE:
+            frequency_ = 10;
+            range = " ";
+            break;
+        }
     }
+
     LOG(INFO) << "Trajectory set frequency: " << frequency_;
     io_ = new TextIO(trajectory_path_, range);
     boost::function<void(const vector<string>&, uint8_t)> parse_callback =

libs/trajectory/trajectory.h

@@ -9,7 +9,10 @@ using namespace GeographicLib;
 class Trajectory
 {
 public:
-    Trajectory(const string &traj_path, const TrajType &trajType);
+    Trajectory(
+            const string &traj_path,
+            const TrajType &trajType,
+            uint32_t frequency = 0);
 
     ~Trajectory();
 
@@ -57,7 +60,7 @@ private:
 
     const TrajType trajType_;
 
-    double frequency_;
+    uint32_t frequency_;
 
     TextIO* io_ = nullptr;