test

apps/function/multi_traj_functions.cpp

@@ -234,7 +234,7 @@ void filterByPosition(
             size_t index = longestIndex.first;
             bool findIndex = false;
             for(auto &filteredOneRet : filteredRet){
-                if(filteredOneRet.index == index){
+                if(filteredOneRet.index == ret.at(index).index){
                     filteredOneRet.periods.push_back(ret.at(index).periods.at(longestIndex.second));
                     findIndex = true;
                     break;
@@ -242,7 +242,7 @@ void filterByPosition(
             }
             if(!findIndex){
                 CloseTrajInfo closeTrajInfo;
-                closeTrajInfo.index = index;
+                closeTrajInfo.index = ret.at(index).index;
                 closeTrajInfo.periods.push_back(ret.at(index).periods.at(longestIndex.second));
                 closeTrajInfo.trajPath = ret.at(index).trajPath;
                 filteredRet.push_back(closeTrajInfo);
@@ -322,9 +322,9 @@ vector<CloseTrajInfo> crossFilter(
         for(size_t periodIndex = 0; periodIndex < oneRet.periods.size(); periodIndex++){
 
             PointCloudExport periodCloud =
-                    getCloudFromPeriod(pointClouds.at(oneRet.index), oneRet.periods.at(periodIndex));
-            pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[oneRet.index].meshId) +
-                                       "_" + to_string(oneRet.periods.at(periodIndex).first) +
+                    getCloudFromPeriod(pointClouds.at(pcIndex), timePeriods.back());
+            pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[pcIndex].meshId) +
+                                       "_" + to_string(timePeriods.back().first) +
                                        ".pcd", periodCloud);
         }
     }