add period

CMakeLists.txt.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.11.1, 2022-01-11T13:47:33. -->
+<!-- Written by QtCreator 4.5.2, 2022-02-25T18:01:03. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{ec827dfb-5492-42a2-9e63-855eb7003926}</value>
+  <value type="QByteArray">{bab6b7c9-47af-4f87-9e48-9e5aea35e77d}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -54,41 +54,36 @@
  </data>
  <data>
   <variable>ProjectExplorer.Project.PluginSettings</variable>
-  <valuemap type="QVariantMap">
-   <valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
-   <value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
-  </valuemap>
+  <valuemap type="QVariantMap"/>
  </data>
  <data>
   <variable>ProjectExplorer.Project.Target.0</variable>
   <valuemap type="QVariantMap">
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Imported Kit</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Imported Kit</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{54d57084-ef96-4608-96a1-5a638363577e}</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{a481ffb4-75ee-455c-9443-95f457b0df68}</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">1</value>
    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
     <valuelist type="QVariantList" key="CMake.Configuration">
      <value type="QString">CMAKE_BUILD_TYPE:STRING=Debug</value>
-     <value type="QString">CMAKE_CXX_COMPILER:STRING=%{Compiler:Executable:Cxx}</value>
-     <value type="QString">CMAKE_C_COMPILER:STRING=%{Compiler:Executable:C}</value>
-     <value type="QString">CMAKE_PREFIX_PATH:STRING=%{Qt:QT_INSTALL_PREFIX}</value>
-     <value type="QString">QT_QMAKE_EXECUTABLE:STRING=%{Qt:qmakeExecutable}</value>
     </valuelist>
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/wdw/WorkSpace/build-multitraj-Imported_Kit_54d570-Debug</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/juefx/workspace/multitraj/build-multitraj-Desktop-Debug</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
-      <value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
+      <value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">-j8</value>
       <valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
        <value type="QString">all</value>
       </valuelist>
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CMake Build</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -98,28 +93,27 @@
        <value type="QString">clean</value>
       </valuelist>
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CMake Build</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Debug</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Debug</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
     <valuelist type="QVariantList" key="CMake.Configuration">
      <value type="QString">CMAKE_BUILD_TYPE:STRING=Release</value>
-     <value type="QString">CMAKE_CXX_COMPILER:STRING=%{Compiler:Executable:Cxx}</value>
-     <value type="QString">CMAKE_C_COMPILER:STRING=%{Compiler:Executable:C}</value>
-     <value type="QString">CMAKE_PREFIX_PATH:STRING=%{Qt:QT_INSTALL_PREFIX}</value>
-     <value type="QString">QT_QMAKE_EXECUTABLE:STRING=%{Qt:qmakeExecutable}</value>
     </valuelist>
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/wdw/WorkSpace/build-multitraj-Imported_Kit_54d570-Release</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/juefx/workspace/multitraj/build-multitraj-Desktop-Release</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
@@ -127,11 +121,13 @@
        <value type="QString">all</value>
       </valuelist>
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CMake Build</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -141,16 +137,19 @@
        <value type="QString">clean</value>
       </valuelist>
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CMake Build</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
    </valuemap>
@@ -159,32 +158,17 @@
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy locally</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
    </valuemap>
    <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
-    <value type="QString" key="Analyzer.Perf.CallgraphMode">dwarf</value>
-    <valuelist type="QVariantList" key="Analyzer.Perf.Events">
-     <value type="QString">cpu-cycles</value>
-    </valuelist>
-    <valuelist type="QVariantList" key="Analyzer.Perf.ExtraArguments"/>
-    <value type="int" key="Analyzer.Perf.Frequency">250</value>
-    <valuelist type="QVariantList" key="Analyzer.Perf.RecordArguments">
-     <value type="QString">-e</value>
-     <value type="QString">cpu-cycles</value>
-     <value type="QString">--call-graph</value>
-     <value type="QString">dwarf,4096</value>
-     <value type="QString">-F</value>
-     <value type="QString">250</value>
-    </valuelist>
-    <value type="QString" key="Analyzer.Perf.SampleMode">-F</value>
-    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
-    <value type="int" key="Analyzer.Perf.StackSize">4096</value>
     <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
     <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
     <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
@@ -199,7 +183,6 @@
     <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
     <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
     <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
-    <value type="QString" key="Analyzer.Valgrind.KCachegrindExecutable">kcachegrind</value>
     <value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">1</value>
     <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
     <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
@@ -225,21 +208,21 @@
      <value type="int">13</value>
      <value type="int">14</value>
     </valuelist>
+    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguation.Title">multi_traj</value>
+    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.Arguments"></value>
+    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory"></value>
+    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory.default">/home/juefx/workspace/multitraj/build-multitraj-Desktop-Release/apps</value>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
-    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
-    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
-    <value type="QString" key="RunConfiguration.Arguments"></value>
-    <value type="bool" key="RunConfiguration.Arguments.multi">false</value>
-    <value type="QString" key="RunConfiguration.OverrideDebuggerStartup"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">multi_traj</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.multi_traj</value>
+    <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
     <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
-    <value type="QString" key="RunConfiguration.WorkingDirectory"></value>
-    <value type="QString" key="RunConfiguration.WorkingDirectory.default"></value>
    </valuemap>
    <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>
@@ -250,10 +233,10 @@
  </data>
  <data>
   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
+  <value type="int">18</value>
  </data>
  <data>
   <variable>Version</variable>
-  <value type="int">22</value>
+  <value type="int">18</value>
  </data>
 </qtcreator>

apps/function/multi_traj_functions.cpp

@@ -22,7 +22,7 @@ vector<string> getActiveTraces(
 
 void getCrossTasks(
         const vector<string> &allTask,
-        vector<string> &crossTasks)
+        vector<pair<string, vector<pair<float, float>>>> &crossTasks)
 {
     if(allTask.size() < 2){
         return;
@@ -152,9 +152,9 @@ bool checkMeshOut(
     return false;
 }
 
-vector<string> crossFilter(
+vector<pair<string, vector<pair<float, float>>>> crossFilter(
         const vector<TaskInfo> &filteredTaskInfo){
-    vector<string> ret;
+    vector<pair<string, vector<pair<float, float>>>> ret;
     if(filteredTaskInfo.size() < 2){
         return ret;
     }
@@ -175,17 +175,37 @@ vector<string> crossFilter(
     octree.addPointsFromInputCloud();
     for(size_t pcIndex = 1; pcIndex < pointClouds.size(); pcIndex++){
         bool found = false;
+        bool inPeriod = false;
+        float start =0, end = 0;
+        pair<string, vector<pair<float, float>>> oneRet;
+        vector<pair<float, float>> timePeriods;
+        float currTime;
         for(const PointExport& query : pointClouds[pcIndex]->points){
             int result_index;
             float sqr_distance;
             octree.approxNearestSearch(query, result_index, sqr_distance);
             if(sqr_distance < 10){
                 found = true;
-                break;
+                if(!inPeriod){
+                    start = query.info;
+                    inPeriod = true;
+                }
+            }else{
+                if(inPeriod){
+                    end = query.info;
+                    inPeriod = false;
+                    timePeriods.push_back(make_pair(start, end));
+                }
             }
+            currTime = query.info;
+        }
+        if(inPeriod){
+            timePeriods.push_back(make_pair(start, currTime));
         }
         if(found){
-            ret.push_back(filteredTaskInfo[pcIndex].taskPath);
+            oneRet = make_pair(filteredTaskInfo[pcIndex].taskPath,
+                               timePeriods);
+            ret.push_back(oneRet);
         }
     }
     return ret;
@@ -249,6 +269,7 @@ void getPointCloud(boost::shared_ptr<LocalCartesian> proj,
         point.x = translation.x();
         point.y = translation.y();
         point.z = translation.z();
+        point.info = trajPoint.timestamp;
         pointCloud->push_back(point);
     }
 }

apps/function/multi_traj_functions.h

@@ -18,7 +18,9 @@ vector<string> getCloseTasks(
         const string &parentPath,
         boost::shared_ptr<Trajectory> currTraj);
 
-void getCrossTasks(const vector<string> &allTask, vector<string> &crossTasks);
+void getCrossTasks(
+        const vector<string> &allTask,
+        vector<pair<string, vector<pair<float, float> > > > &crossTasks);
 
 bool getTaskInfo(
         const string &taskPath,
@@ -35,7 +37,7 @@ bool checkMeshOut(
         const MeshOut& query,
         const MeshOut& target);
 
-vector<string> crossFilter(
+vector<pair<string, vector<pair<float, float>>>> crossFilter(
         const vector<TaskInfo> &filteredTaskInfo);
 
 bool initTrajectory(const string &trajPath,

apps/multi_traj.cpp

@@ -35,20 +35,20 @@ int main(int argc, char *argv[])
     }
     activeTraces.insert(activeTraces.begin(), FLAGS_base_dir);
 
-    vector<string> crossTasks;
+    vector<pair<string, vector<pair<float, float>>>> crossTasks;
     getCrossTasks(activeTraces, crossTasks);
     if(crossTasks.size() == 0){
         LOG(WARNING) << "crossTasks.size() == 0";
     }else{
         sort(crossTasks.begin(), crossTasks.end(),
-             [](const string& query, const string& target) {
-                 return stoi(boost::filesystem::path(query).filename().string()) <
-                         stoi(boost::filesystem::path(target).filename().string());
+             [](const auto& query, const auto& target) {
+                 return stoi(boost::filesystem::path(query.first).filename().string()) <
+                         stoi(boost::filesystem::path(target.first).filename().string());
              });
     }
 
-    for(string task : crossTasks){
-        LOG(INFO) << "cross task chekc in: " << task;
+    for(auto task : crossTasks){
+        LOG(INFO) << "cross task chekc in: " << task.first;
     }
 
     string outputPath = FLAGS_base_dir + "/multiTraj.txt";
@@ -59,8 +59,13 @@ int main(int argc, char *argv[])
     }
     if(crossTasks.size() != 0){
 //        ofs << crossTasks.back() << std::endl;
-        for(string task : crossTasks){
-            ofs << task << std::endl;
+        for(auto task : crossTasks){
+            ofs << task.first;
+            for(auto period : task.second){
+                ofs << " " << period.first << " " << period.second;
+
+            }
+            ofs << std::endl;
         }
     }
     ofs.close();