filter period time < 2sec

CMakeLists.txt.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.11.1, 2023-06-26T19:12:39. -->
+<!-- Written by QtCreator 4.11.1, 2023-08-01T17:10:35. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

apps/function/multi_traj_functions.cpp

@@ -532,9 +532,18 @@ vector<CloseTrajInfo> crossFilter(
         }
     }
     filterByPosition(ret, pointClouds, trajectories);
+    vector<CloseTrajInfo> retOver2Sec;
     for(size_t retIndex = 0;  retIndex < ret.size(); retIndex++){
         const auto& oneRet = ret.at(retIndex);
+        CloseTrajInfo oneRetOver2Sec;
+        oneRetOver2Sec.index = oneRet.index;
+        oneRetOver2Sec.trajPath = oneRet.trajPath;
         for(size_t periodIndex = 0; periodIndex < oneRet.periods.size(); periodIndex++){
+            auto period = oneRet.periods.at(periodIndex);
+            if(period.second - period.first < 2){
+                continue;
+            }
+            oneRetOver2Sec.periods.push_back(period);
             size_t indexOffset;
             PointCloudExport periodCloud =
                     getCloudFromPeriod(pointClouds.at(oneRet.index), oneRet.periods.at(periodIndex), indexOffset);
@@ -544,7 +553,11 @@ vector<CloseTrajInfo> crossFilter(
                                            ".pcd", periodCloud);
             }
         }
+        if(oneRetOver2Sec.periods.size()){
+            retOver2Sec.push_back(oneRetOver2Sec);
+        }
     }
+    retOver2Sec.swap(ret);
     return ret;
 }
 

apps/multi_traj.cpp

@@ -68,7 +68,11 @@ int main(int argc, char *argv[])
                  });
             ofs << meshId;
             for(auto period : task.periods){
-                ofs << setprecision(15) << " " << period.first << " " << period.second - period.first;
+                auto timeDelta = period.second - period.first;
+                if(timeDelta < 2){
+                    continue;
+                }
+                ofs << setprecision(15) << " " << period.first << " " << timeDelta;
 
             }
             ofs << std::endl;