From 7c01c637e46c66c394db7a378ba8bc05a7034193 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 16 May 2022 18:19:01 +0800 Subject: [PATCH] =?UTF-8?q?[change]=E7=82=B9=E4=BA=91=E8=A7=A3=E6=9E=90?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0id?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../support/adas/high/common/PointCloudDecoder.java | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java index 8e677419df..b89934e255 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java @@ -9,14 +9,13 @@ import rule_segement.PointCloud; * 如果add_data 没有数据 新增数据大小用-1表示 * 如果del_data 没有数据 删除数据大小用-2表示 * 如果又不存在的数会使用0.0补位 - * 目前工控机所发送数据没用ID 所以默认用0代替 */ public class PointCloudDecoder { /** * add 和del 列表中 多少一个数据为一组 - * 目前缺少id所以是4个 + * 顺序是id，x,y,z,强度 5个 */ - private static final int NUMBER_OF_DATA = 4; + private static final int NUMBER_OF_DATA = 5; public static String decode(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) { StringBuilder builder = new StringBuilder(); @@ -70,7 +69,7 @@ public class PointCloudDecoder { int temp = i * NUMBER_OF_DATA; if (i < addSize) { //目前没有id 默认插入0 - add.append(0).append(","); + add.append(pointCloud.getAddData(temp++)).append(","); add.append(pointCloud.getAddData(temp++)).append(","); add.append(pointCloud.getAddData(temp++)).append(","); add.append(pointCloud.getAddData(temp++)).append(","); @@ -78,8 +77,7 @@ public class PointCloudDecoder { } if (i < delSize) { temp = i * NUMBER_OF_DATA; - //目前没有id 默认插入0 - del.append(0).append(","); + del.append(pointCloud.getDelData(temp++)).append(","); del.append(pointCloud.getDelData(temp++)).append(","); del.append(pointCloud.getDelData(temp++)).append(","); del.append(pointCloud.getDelData(temp++)).append(",");