test

apps/function/multi_traj_functions.cpp

@@ -322,9 +322,9 @@ vector<CloseTrajInfo> crossFilter(
         for(size_t periodIndex = 0; periodIndex < oneRet.periods.size(); periodIndex++){
 
             PointCloudExport periodCloud =
-                    getCloudFromPeriod(pointClouds.at(pcIndex), timePeriods.back());
-            pcl::io::savePCDFileBinary("/tmp/" + to_string(filteredTaskInfo[pcIndex].meshId) +
-                                       "_" + to_string(timePeriods.back().first) +
+                    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) +
                                        ".pcd", periodCloud);
         }
     }