| 70 | } |
| 71 | |
| 72 | void readInputData(SloamInput& inp, std::string prefix, std::string stamp){ |
| 73 | std::string base_dir = "/opt/sloam_ws/src/sloam/src/tests/aux/"; |
| 74 | std::string landmarks_path = base_dir + prefix + "_landmarks_" + stamp; |
| 75 | std::string ground_path = base_dir + prefix + "_ground_" + stamp + std::string(".pcd"); |
| 76 | |
| 77 | // read class state from archive |
| 78 | std::ifstream ifs(landmarks_path); |
| 79 | boost::archive::text_iarchive ia(ifs); |
| 80 | ia >> inp.landmarks; |
| 81 | |
| 82 | for(auto& tree : inp.landmarks){ |
| 83 | for(auto& vtx : tree){ |
| 84 | vtx.points.resize(5); |
| 85 | } |
| 86 | } |
| 87 | |
| 88 | // CloudT::Ptr rawGround(new CloudT); |
| 89 | // pcl::io::loadPCDFile<PointT>(ground_path, *rawGround); |
| 90 | // filterPC(rawGround, inp.groundCloud, 1); |
| 91 | pcl::io::loadPCDFile<PointT>(ground_path, *inp.groundCloud); |
| 92 | } |
| 93 | |
| 94 | void setupParams() |
| 95 | { |
nothing calls this directly
no outgoing calls
no test coverage detected