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fixed segmentation fault causing by std::filesystem on some devices

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This commit is contained in:
TJU_Lu 2024-12-09 10:31:13 +08:00
parent d9853abdd7
commit a349d0ca13
4 changed files with 10 additions and 13 deletions
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3
flightlib/include/flightlib/envs/vec_env.hpp
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@ -6,8 +6,7 @@
// std // std
#include <omp.h> #include <omp.h>
#include <time.h> #include <time.h>
#include <boost/filesystem.hpp>
#include <filesystem>
#include <memory> #include <memory>
#include <regex> #include <regex>

4
flightlib/include/flightlib/ros_nodes/flight_pilot.hpp
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@ -6,11 +6,9 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h> #include <sensor_msgs/CameraInfo.h>
#include <yaml-cpp/yaml.h> #include <yaml-cpp/yaml.h>
#include <boost/filesystem.hpp>
#include <cmath> #include <cmath>
#include <filesystem>
#include <memory> #include <memory>
#include "std_msgs/Empty.h" #include "std_msgs/Empty.h"
// flightlib // flightlib
#include "flightlib/bridges/unity_bridge.hpp" #include "flightlib/bridges/unity_bridge.hpp"

12
flightlib/src/envs/vec_env.cpp
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@ -318,15 +318,15 @@ bool VecEnv<EnvBase>::spawnTreesAndSavePointcloud(int ply_id_in, float spacing)
template<typename EnvBase> template<typename EnvBase>
void VecEnv<EnvBase>::generateMaps() { void VecEnv<EnvBase>::generateMaps() {
std::vector<std::string> ply_files; std::vector<std::string> ply_files;
for (const auto& entry : std::filesystem::directory_iterator(ply_path_)) { for (const auto& entry : boost::filesystem::directory_iterator(ply_path_)) {
if (entry.is_regular_file() && entry.path().extension() == ".ply") { if (boost::filesystem::is_regular_file(entry) && entry.path().extension() == ".ply") {
ply_files.push_back(entry.path().string()); ply_files.push_back(entry.path().string());
} }
} }
// Sort according to the number of the filename. // Sort according to the number of the filename.
std::sort(ply_files.begin(), ply_files.end(), [this](const std::string& a, const std::string& b) { std::sort(ply_files.begin(), ply_files.end(), [this](const std::string& a, const std::string& b) {
return extract_number(std::filesystem::path(a).filename().string()) < extract_number(std::filesystem::path(b).filename().string()); return extract_number(boost::filesystem::path(a).filename().string()) < extract_number(boost::filesystem::path(b).filename().string());
}); });
for (auto ply_file : ply_files) { for (auto ply_file : ply_files) {

4
flightlib/src/ros_nodes/flight_pilot.cpp
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@ -202,8 +202,8 @@ bool FlightPilot::loadParams(const YAML::Node& cfg) {
} }
pointcloud_resolution_ = cfg["unity"]["pointcloud_resolution"].as<Scalar>(); pointcloud_resolution_ = cfg["unity"]["pointcloud_resolution"].as<Scalar>();
ply_path_ = getenv("FLIGHTMARE_PATH") + cfg["ply_path"].as<std::string>(); ply_path_ = getenv("FLIGHTMARE_PATH") + cfg["ply_path"].as<std::string>();
if (!std::filesystem::exists(ply_path_)) { if (!boost::filesystem::exists(ply_path_)) {
std::filesystem::create_directories(ply_path_); boost::filesystem::create_directories(ply_path_);
std::cout << "Directory created: " << ply_path_ << std::endl; std::cout << "Directory created: " << ply_path_ << std::endl;
} }
return true; return true;