From 8f1824822e1146308c1495f40f28921d2f5551cf Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 18 May 2022 11:43:13 +0800 Subject: [PATCH] =?UTF-8?q?[change]=E4=BF=AE=E6=94=B9=E7=82=B9=E4=BA=91?= =?UTF-8?q?=E8=A7=A3=E6=9E=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../support/adas/high/common/PointCloudDecoder.java | 13 ++++--------- 1 file changed, 4 insertions(+), 9 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 b89934e255..ee9389deda 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 @@ -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++; }