Apollo 10.0
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apollo::localization::msf::PosesInterpolation类 参考

#include <poses_interpolation.h>

apollo::localization::msf::PosesInterpolation 的协作图:

Public 成员函数

 PosesInterpolation ()
 
bool Init (const std::string &input_poses_path, const std::string &ref_timestamps_path, const std::string &out_poses_path, const std::string &extrinsic_path)
 
void DoInterpolation ()
 

详细描述

在文件 poses_interpolation.h 第 38 行定义.

构造及析构函数说明

◆ PosesInterpolation()

apollo::localization::msf::PosesInterpolation::PosesInterpolation ( )

在文件 poses_interpolation.cc 第 26 行定义.

26{}

成员函数说明

◆ DoInterpolation()

void apollo::localization::msf::PosesInterpolation::DoInterpolation ( )

在文件 poses_interpolation.cc 第 46 行定义.

46 {
47 // Load input poses
48 ::apollo::common::EigenVector3dVec input_stds;
49 velodyne::LoadPosesAndStds(input_poses_path_, &input_poses_, &input_stds,
50 &input_poses_timestamps_);
51
52 // Load pcd timestamp
53 LoadPCDTimestamp();
54
55 // Interpolation
56 PoseInterpolationByTime(input_poses_, input_poses_timestamps_,
57 ref_timestamps_, ref_ids_, &out_indexes_,
58 &out_timestamps_, &out_poses_);
59
60 // Write pcd poses
61 WritePCDPoses();
62}
apollo::common::EigenVector3dVec
EigenVector< Eigen::Vector3d > EigenVector3dVec
Definition eigen_defs.h:46
apollo::localization::msf::velodyne::LoadPosesAndStds
void LoadPosesAndStds(const std::string &file_path, ::apollo::common::EigenAffine3dVec *poses, ::apollo::common::EigenVector3dVec *stds, std::vector< double > *timestamps)
Load poses and stds their timestamps.
Definition velodyne_utility.cc:130

◆ Init()

bool apollo::localization::msf::PosesInterpolation::Init ( const std::string &  input_poses_path,
const std::string &  ref_timestamps_path,
const std::string &  out_poses_path,
const std::string &  extrinsic_path 
)

在文件 poses_interpolation.cc 第 28 行定义.

31 {
32 this->input_poses_path_ = input_poses_path;
33 this->ref_timestamps_path_ = ref_timestamps_path;
34 this->out_poses_path_ = out_poses_path;
35 this->extrinsic_path_ = extrinsic_path;
36
37 bool success = velodyne::LoadExtrinsic(extrinsic_path_, &velodyne_extrinsic_);
38 if (!success) {
39 AERROR << "Load lidar extrinsic failed.";
40 return false;
41 }
42
43 return true;
44}
AERROR
#define AERROR
Definition log.h:44
apollo::localization::msf::velodyne::LoadExtrinsic
bool LoadExtrinsic(const std::string &file_path, Eigen::Affine3d *extrinsic)
Load the velodyne extrinsic from a YAML file.
Definition velodyne_utility.cc:164
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