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multiTraj
Commit 73f8f8fc authored by limingbo's avatar limingbo
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add period

parent 732b7821
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Showing with 80 additions and 69 deletions
CMakeLists.txt.user
View file @ 73f8f8fc
<?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
View file @ 73f8f8fc
......@@ -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
View file @ 73f8f8fc
......@@ -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
View file @ 73f8f8fc
......@@ -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();
......
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