Method loadExistingSTD

src/STDesc.cpp:2904–2943

}

void STDescManager::loadExistingSTD(const std::string &save_path,
                                    int frame_num) {
  std::string des_path = save_path + "des.bin";

  std::ifstream inputFile(des_path, std::ios::binary);
  size_t mapSize;
  inputFile.read(reinterpret_cast<char *>(&mapSize), sizeof(mapSize));
  for (size_t i = 0; i < mapSize; ++i) {
    STDesc_LOC loc;
    inputFile.read(reinterpret_cast<char *>(&loc), sizeof(STDesc_LOC));
    size_t vectorSize;
    inputFile.read(reinterpret_cast<char *>(&vectorSize), sizeof(vectorSize));
    std::vector<STDesc> descVector;
    for (size_t j = 0; j < vectorSize; ++j) {
      STDesc desc;
      inputFile.read(reinterpret_cast<char *>(&desc), sizeof(STDesc));
      descVector.push_back(desc);
    }
    data_base_[loc] = descVector;
  }
  inputFile.close();

  std::string plan_cloud_path = save_path + "plane_clouds/";
  std::stringstream ss;
  for (auto i = 0; i < frame_num; ++i) {
    pcl::PointCloud<pcl::PointXYZINormal>::Ptr currPlaneCloud(
        new pcl::PointCloud<pcl::PointXYZINormal>());
    ss << plan_cloud_path << std::setfill('0') << std::setw(6) << i << ".pcd";
    pcl::io::loadPCDFile<pcl::PointXYZINormal>(ss.str(), *currPlaneCloud);
    // std::cout << "before push_back: " <<
    // currPlaneCloud->points.size()
    //           << std::endl;
    this->plane_cloud_vec_.push_back(currPlaneCloud);
    // std::cout << "aft push_back:    "
    //           << plane_cloud_vec_.back()->points.size() << std::endl;
    ss.clear();
    ss.str(std::string());
    // currPlaneCloud->clear();
  }
}

void OctoTree::init_plane() {
  plane_ptr_->covariance_ = Eigen::Matrix3d::Zero();