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[change]修改点云解析

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xinfengkun
2022-05-18 11:43:13 +08:00
parent 2f49770761
commit 8f1824822e
1 changed files with 4 additions and 9 deletions
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13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
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@@ -5,7 +5,7 @@ import rule_segement.PointCloud;
/**
* 点云数据解码器
* 时间戳，lon，lat，alt，yaw，roll，patch，新增数据大小，id，x，y，z，强度，……，删除数据大小，id，x，y，z，强度，……
* 时间戳，lon，lat，alt，yaw，roll，patch，新增数据大小，id，x，y，z，强度，……，删除数据大小，id，……
* 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
@@ -58,7 +58,7 @@ public class PointCloudDecoder {
}
builder.append(d).append(",");
int addSize = pointCloud.getAddDataCount() / NUMBER_OF_DATA;
int delSize = pointCloud.getDelDataCount() / NUMBER_OF_DATA;
int delSize = pointCloud.getDelDataCount();
if (addSize == 0 && delSize == 0) {
builder.append(-1).append(",").append(-2);
} else {
@@ -66,8 +66,8 @@ public class PointCloudDecoder {
StringBuilder del = new StringBuilder();
int i = 0;
while (i < delSize || i < addSize) {
int temp = i * NUMBER_OF_DATA;
if (i < addSize) {
int temp = i * NUMBER_OF_DATA;
//目前没有id 默认插入0
add.append(pointCloud.getAddData(temp++)).append(",");
add.append(pointCloud.getAddData(temp++)).append(",");
@@ -76,12 +76,7 @@ public class PointCloudDecoder {
add.append(pointCloud.getAddData(temp)).append(",");
}
if (i < delSize) {
temp = i * NUMBER_OF_DATA;
del.append(pointCloud.getDelData(temp++)).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(",");
del.append(pointCloud.getDelData(i)).append(",");
}
i++;
}