Export pcd from rosbag. 更多...

#include <pcd_exporter.h>

apollo::localization::msf::PCDExporter 的协作图:

Public 成员函数
	PCDExporter (const std::string &pcd_folder)

	~PCDExporter ()

void	CompensatedPcdCallback (const std::string &msg)

详细描述

Export pcd from rosbag.

在文件 pcd_exporter.h 第 31 行定义.

构造及析构函数说明

◆ PCDExporter()

apollo::localization::msf::PCDExporter::PCDExporter ( const std::string & pcd_folder )

explicit

在文件 pcd_exporter.cc 第 28 行定义.

                                                    {
  pcd_folder_ = pcd_folder;
  std::string stamp_file = pcd_folder_ + "/pcd_timestamp.txt";
 
  if ((stamp_file_handle_ = fopen(stamp_file.c_str(), "a")) == nullptr) {
    AERROR << "Cannot open stamp file!";
  }
}

◆ ~PCDExporter()

apollo::localization::msf::PCDExporter::~PCDExporter ( )

在文件 pcd_exporter.cc 第 37 行定义.

                          {
  if (stamp_file_handle_ != nullptr) {
    fclose(stamp_file_handle_);
  }
}

成员函数说明

◆ CompensatedPcdCallback()

void apollo::localization::msf::PCDExporter::CompensatedPcdCallback ( const std::string & msg )

在文件 pcd_exporter.cc 第 43 行定义.

                                                                    {
  AINFO << "Compensated pcd callback.";
  drivers::PointCloud msg;
  msg.ParseFromString(msg_string);
 
  static unsigned int index = 1;
 
  std::stringstream ss_pcd;
  ss_pcd << pcd_folder_ << "/" << index << ".pcd";
  std::string pcd_filename = ss_pcd.str();
 
  WritePcdFile(pcd_filename, msg);
  double timestamp = cyber::Time(msg.measurement_time()).ToSecond();
  fprintf(stamp_file_handle_, "%u %lf\n", index, timestamp);
 
  ++index;
}

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