cyber_record_parser.cc 文件参考

#include <boost/filesystem.hpp>
#include <boost/program_options.hpp>
#include "cyber/cyber.h"
#include "modules/localization/msf/local_tool/data_extraction/cyber_record_reader.h"
#include "modules/localization/msf/local_tool/data_extraction/location_exporter.h"
#include "modules/localization/msf/local_tool/data_extraction/pcd_exporter.h"

cyber_record_parser.cc 的引用(Include)关系图:

浏览源代码.

函数
int	main (int argc, char **argv)

函数说明

main()

int main	(	int	argc,
		char **	argv
	)

在文件 cyber_record_parser.cc 第 29 行定义.

                                {
  boost::program_options::options_description boost_desc("Allowed options");
  boost_desc.add_options()("help", "produce help message")(
      "bag_files", boost::program_options::value<std::vector<std::string>>(),
      "provide the bag file")("out_folder",
                              boost::program_options::value<std::string>(),
                              "provide the output folder")(
      "cloud_topic",
      boost::program_options::value<std::string>()->default_value(
          "/apollo/sensor/velodyne64/compensator/PointCloud2"),
      "provide point cloud2 topic")(
      "gnss_loc_topic",
      boost::program_options::value<std::string>()->default_value(
          "/apollo/localization/measure_gnss"),
      "provide gnss localization topic")(
      "lidar_loc_topic",
      boost::program_options::value<std::string>()->default_value(
          "/apollo/localization/measure_lidar"),
      "provide lidar localization topic")(
      "fusion_loc_topic",
      boost::program_options::value<std::string>()->default_value(
          "/apollo/localization/pose"),
      "provide fusion localization topic")(
      "odometry_loc_topic",
      boost::program_options::value<std::string>()->default_value(
          "/apollo/sensor/gnss/odometry"),
      "provide odometry localization topic");
 
  boost::program_options::variables_map boost_args;
  boost::program_options::store(
      boost::program_options::parse_command_line(argc, argv, boost_desc),
      boost_args);
  boost::program_options::notify(boost_args);
 
  if (boost_args.count("help") || !boost_args.count("bag_files") ||
      !boost_args.count("out_folder")) {
    AERROR << boost_desc;
    return 0;
  }
 
  const std::vector<std::string> bag_files =
      boost_args["bag_files"].as<std::vector<std::string>>();
  const std::string pcd_folder =
      boost_args["out_folder"].as<std::string>() + "/pcd";
  if (!boost::filesystem::exists(pcd_folder)) {
    boost::filesystem::create_directory(pcd_folder);
  }
 
  const std::string cloud_topic = boost_args["cloud_topic"].as<std::string>();
  const std::string gnss_loc_topic =
      boost_args["gnss_loc_topic"].as<std::string>();
  const std::string lidar_loc_topic =
      boost_args["lidar_loc_topic"].as<std::string>();
  const std::string fusion_loc_topic =
      boost_args["fusion_loc_topic"].as<std::string>();
  const std::string odometry_loc_topic =
      boost_args["odometry_loc_topic"].as<std::string>();
 
  std::unique_ptr<PCDExporter> pcd_exporter(new PCDExporter(pcd_folder));
  std::unique_ptr<LocationExporter> loc_exporter(
      new LocationExporter(pcd_folder));
 
  CyberRecordReader reader;
  reader.Subscribe(cloud_topic, [&](const std::string &msg) {
    pcd_exporter->CompensatedPcdCallback(msg);
  });
 
  reader.Subscribe(gnss_loc_topic, [&](const std::string &msg) {
    loc_exporter->GnssLocCallback(msg);
  });
 
  reader.Subscribe(lidar_loc_topic, [&](const std::string &msg) {
    loc_exporter->LidarLocCallback(msg);
  });
 
  reader.Subscribe(fusion_loc_topic, [&](const std::string &msg) {
    loc_exporter->FusionLocCallback(msg);
  });
 
  reader.Subscribe(odometry_loc_topic, [&](const std::string &msg) {
    loc_exporter->OdometryLocCallback(msg);
  });
 
  reader.Read(bag_files);
 
  return 0;
}