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CMakeLists.txt.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.5.2, 2022-02-28T19:02:00. -->
+<!-- Written by QtCreator 4.5.2, 2022-03-04T11:51:45. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

apps/function/multi_traj_functions.cpp

@@ -91,6 +91,8 @@ bool getTaskInfo(
     if(exists(meshOutPath)){
        taskInfo.meshOutPath = meshOutPath;
     }
+    taskInfo.meshId =
+            stoi(boost::filesystem::path(taskPath).filename().string());
     return true;
 }
 
@@ -173,9 +175,9 @@ vector<pair<string, vector<pair<uint64_t, uint64_t>>>> crossFilter(
     pcl::octree::OctreePointCloudSearch<PointExport> octree(resolution);
     octree.setInputCloud(pointClouds.front());
     octree.addPointsFromInputCloud();
-    pcl::io::savePCDFileBinary("/home/juefx/0.pcd", *pointClouds[0]);
+    pcl::io::savePCDFileBinary("/home/juefx/" + to_string(filteredTaskInfo[0].meshId) + ".pcd", *pointClouds[0]);
     for(size_t pcIndex = 1; pcIndex < pointClouds.size(); pcIndex++){
-        pcl::io::savePCDFileBinary("/home/juefx/" + to_string(pcIndex) + ".pcd", *pointClouds[pcIndex]);
+        pcl::io::savePCDFileBinary("/home/juefx/" + to_string(filteredTaskInfo[i].meshId) + ".pcd", *pointClouds[pcIndex]);
         bool found = false;
         bool inPeriod = false;
         uint64_t start =0, end = 0;

apps/function/multi_traj_functions.h

@@ -9,6 +9,7 @@ struct TaskInfo{
     string taskPath = "";
     string trajPath = "";
     string meshOutPath = "";
+    uint32_t meshId = 0;
 };
 
 vector<string> getActiveTraces(