localization_gflags.cc 文件参考

#include "modules/localization/common/localization_gflags.h"

localization_gflags.cc 的引用(Include)关系图:

浏览源代码.

函数
	DEFINE_string (localization_module_name, "localization", "localization module name")
	DEFINE_double (localization_publish_freq, 100, "localization publishing frequency.")
	DEFINE_string (localization_config_file, "/apollo/modules/localization/conf/localization_config.pb.txt", "localization config file")
	DEFINE_bool (enable_gps_imu_interprolate, true, "enable GPU/IMU interprolate")
	DEFINE_bool (enable_gps_imu_compensate, false, "enable compensate of GPU/IMU timestamp")
	DEFINE_int32 (gps_imu_compensate_ns_tolerance, 10000000, "tolerance of GPU/IMU timestamp compensator")
	DEFINE_bool (enable_watchdog, true, "enable watchdog")
	DEFINE_double (gps_time_delay_tolerance, 1.0, "gps message time delay tolerance (sec)")
	DEFINE_double (gps_imu_timestamp_sec_diff_tolerance, 20e-3, "gps/imu timestamp diff tolerance (sec)")
	DEFINE_double (timestamp_sec_tolerance, 10e-7, "timestamp second tolerance")
	DEFINE_double (map_offset_x, 0.0, "map_offsite: x")
	DEFINE_double (map_offset_y, 0.0, "map_offsite: y")
	DEFINE_double (map_offset_z, 0.0, "map_offsite: z")
	DEFINE_int32 (report_threshold_err_num, 10, "report threshold error num")
	DEFINE_double (report_gps_imu_time_diff_threshold, 0.02, "report threshold of timestamp diff between gps and imu(sec)")
	DEFINE_bool (enable_gps_timestamp, false, "True to set gps timestamp as localization header timestamp")
	DEFINE_string (local_map_name, "local_map", "The path of localization map.")
	DEFINE_string (lidar_extrinsics_file, "/apollo/modules/localization/msf/params/velodyne_params/" "velodyne64_novatel_extrinsics_example.yaml", "Lidar extrinsics parameter file.")
	DEFINE_string (lidar_height_file, "/apollo/modules/localization/msf/params/velodyne_params/" "velodyne64_height.yaml", "Velodyne extrinsic path for the vehicle in use, " "where <ros> is the placeholder of ROS root.")
	DEFINE_double (lidar_height_default, 1.80, "The height from the center of velodyne to ground.")
	DEFINE_int32 (lidar_localization_mode, 2, "Localization mode, 0 for intensity, 1 for altitude, 2 for fusion.")
	DEFINE_int32 (lidar_yaw_align_mode, 2, "image yaw align mode, 0 for align off, " "1 for fusion, 2 for fusion with multithread.")
	DEFINE_int32 (lidar_filter_size, 17, "Lidar filter size")
	DEFINE_double (lidar_imu_max_delay_time, 0.4, "Lidar msg and imu msg max delay time")
	DEFINE_double (lidar_map_coverage_theshold, 0.9, "Threshold to detect whether vehicle is out of map")
	DEFINE_bool (lidar_debug_log_flag, false, "Lidar Debug switch.")
	DEFINE_int32 (point_cloud_step, 2, "Point cloud step")
	DEFINE_bool (if_use_avx, false, "if use avx to accelerate lidar localization, " "need cpu to support AVX intel instrinsics")
	DEFINE_bool (integ_ins_can_self_align, false, "")
	DEFINE_bool (integ_sins_align_with_vel, true, "")
	DEFINE_bool (integ_sins_state_check, false, "")
	DEFINE_double (integ_sins_state_span_time, 60.0, "")
	DEFINE_double (integ_sins_state_pos_std, 1.0, "")
	DEFINE_double (vel_threshold_get_yaw, 5.0, "")
	DEFINE_bool (enable_ins_aid_rtk, false, "")
	DEFINE_string (eph_buffer_path, "", "")
	DEFINE_string (ant_imu_leverarm_file, "/apollo/modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml", "Ant to imu leferarm.")
	DEFINE_bool (gnss_debug_log_flag, false, "Gnss Debug switch.")
	DEFINE_bool (if_imuant_from_file, true, "Use imu ant from gnss configure file.")
	DEFINE_double (imu_to_ant_offset_x, 0.0, "Imu ant offset x")
	DEFINE_double (imu_to_ant_offset_y, 0.0, "Imu ant offset y")
	DEFINE_double (imu_to_ant_offset_z, 0.0, "Imu ant offset z")
	DEFINE_double (imu_to_ant_offset_ux, 0.0, "Imu ant offset x uncertainty")
	DEFINE_double (imu_to_ant_offset_uy, 0.0, "Imu ant offset y uncertainty")
	DEFINE_double (imu_to_ant_offset_uz, 0.0, "Imu ant offset z uncertainty")
	DEFINE_double (imu_rate, 1.0, "")
	DEFINE_bool (if_utm_zone_id_from_folder, true, "load utm zone id from local map folder")
	DEFINE_bool (trans_gpstime_to_utctime, false, "")
	DEFINE_int32 (gnss_mode, 0, "GNSS Mode, 0 for bestgnss pose, 1 for self gnss.")
	DEFINE_bool (imu_coord_rfu, true, "Right/forward/up")
	DEFINE_bool (gnss_only_init, false, "Whether use bestgnsspose as measure after initializaiton.")
	DEFINE_bool (enable_lidar_localization, true, "Enable lidar-based localization.")
	DEFINE_string (lidar_topic, "/apollo/sensor/lidar128/compensator/PointCloud2", "lidar pointcloud topic")
	DEFINE_string (broadcast_tf_frame_id, "world", "world frame id in tf")
	DEFINE_string (broadcast_tf_child_frame_id, "localization", "localization frame id in tf")
	DEFINE_string (vehicle_imu_file, "/apollo/modules/localization/msf/params" "/vehicle_params/vehicle_imu_extrinsics.yaml", "Vehicle coord to imu coord.")
	DEFINE_bool (if_vehicle_imu_from_file, true, "Whether load vehicle imu extrinsic from yaml file")
	DEFINE_double (imu_vehicle_qx, 0.0, "Vehicle imu quaternion qx")
	DEFINE_double (imu_vehicle_qy, 0.0, "Vehicle imu quaternion qy")
	DEFINE_double (imu_vehicle_qz, 0.0, "Vehicle imu quaternion qz")
	DEFINE_double (imu_vehicle_qw, 1.0, "Vehicle imu quaternion qw")
	DEFINE_string (map_visual_dir, "data/map_visual", "The path of map_visual folder.")
	DEFINE_double (imu_delay_time_threshold_1, 0.1, "imu delay time is larger than 0.1s")
	DEFINE_double (imu_delay_time_threshold_2, 0.05, "imu delay time is larger than 0.05s")
	DEFINE_double (imu_delay_time_threshold_3, 0.02, "imu delay time is larger than 0.02s")
	DEFINE_double (imu_missing_time_threshold_1, 0.1, "imu missing time is larger than 0.1s")
	DEFINE_double (imu_missing_time_threshold_2, 0.05, "imu missing time is larger than 0.05s")
	DEFINE_double (imu_missing_time_threshold_3, 0.01, "imu missing time is larger than 0.01s")
	DEFINE_double (bestgnsspose_loss_time_threshold, 2.0, "threshold for time gap between imu and bestgnsspose time")
	DEFINE_double (lidar_loss_time_threshold, 2.0, "threshold for time gap between imu and lidar pose time")
	DEFINE_double (localization_std_x_threshold_1, 0.15, "threshold for lateral std of localization result")
	DEFINE_double (localization_std_y_threshold_1, 0.15, "threshold for longitudinal std of localization result")
	DEFINE_double (localization_std_x_threshold_2, 0.3, "threshold for lateral std of localization result")
	DEFINE_double (localization_std_y_threshold_2, 0.3, "threshold for longitudinal std of localization result")
	DEFINE_string (ndt_map_dir, "ndt_map", "subdirectory for ndt map")
	DEFINE_bool (ndt_debug_log_flag, false, "NDT Localization log switch")
	DEFINE_double (online_resolution, 2.0, "NDT online pointcloud resolution")
	DEFINE_int32 (ndt_max_iterations, 10, "maximum iterations for NDT matching")
	DEFINE_double (ndt_target_resolution, 1.0, "target resolution for ndt localization")
	DEFINE_double (ndt_line_search_step_size, 0.1, "line search step size for ndt matching")
	DEFINE_double (ndt_transformation_epsilon, 0.01, "iteration convergence condition on transformation")
	DEFINE_int32 (ndt_filter_size_x, 48, "x size for ndt searching area")
	DEFINE_int32 (ndt_filter_size_y, 48, "y size for ndt searching area")
	DEFINE_int32 (ndt_bad_score_count_threshold, 10, "count for continuous bad ndt fitness score")
	DEFINE_double (ndt_warnning_ndt_score, 1.0, "warnning ndt fitness score threshold")
	DEFINE_double (ndt_error_ndt_score, 2.0, "error ndt fitness score threshold")

函数说明

DEFINE_bool() [1/19]

DEFINE_bool	(	enable_gps_imu_compensate	,
		false	,
		"enable compensate of GPU/IMU timestamp"
	)

DEFINE_bool() [2/19]

DEFINE_bool	(	enable_gps_imu_interprolate	,
		true	,
		"enable GPU/IMU interprolate"
	)

DEFINE_bool() [3/19]

DEFINE_bool	(	enable_gps_timestamp	,
		false	,
		"True to set gps timestamp as localization header timestamp"
	)

DEFINE_bool() [4/19]

DEFINE_bool	(	enable_ins_aid_rtk	,
		false	,
		""
	)

DEFINE_bool() [5/19]

DEFINE_bool	(	enable_lidar_localization	,
		true	,
		"Enable lidar-based localization."
	)

DEFINE_bool() [6/19]

DEFINE_bool	(	enable_watchdog	,
		true	,
		"enable watchdog"
	)

DEFINE_bool() [7/19]

DEFINE_bool	(	gnss_debug_log_flag	,
		false	,
		"Gnss Debug switch."
	)

DEFINE_bool() [8/19]

DEFINE_bool	(	gnss_only_init	,
		false	,
		"Whether use bestgnsspose as measure after initializaiton."
	)

DEFINE_bool() [9/19]

DEFINE_bool	(	if_imuant_from_file	,
		true	,
		"Use imu ant from gnss configure file."
	)

DEFINE_bool() [10/19]

DEFINE_bool	(	if_use_avx	,
		false	,
		"if use avx to accelerate lidar	localization,
		" "need cpu to support AVX intel instrinsics"
	)

DEFINE_bool() [11/19]

DEFINE_bool	(	if_utm_zone_id_from_folder	,
		true	,
		"load utm zone id from local map folder"
	)

DEFINE_bool() [12/19]

DEFINE_bool	(	if_vehicle_imu_from_file	,
		true	,
		"Whether load vehicle imu extrinsic from yaml file"
	)

DEFINE_bool() [13/19]

DEFINE_bool	(	imu_coord_rfu	,
		true	,
		"Right/forward/up"
	)

DEFINE_bool() [14/19]

DEFINE_bool	(	integ_ins_can_self_align	,
		false	,
		""
	)

DEFINE_bool() [15/19]

DEFINE_bool	(	integ_sins_align_with_vel	,
		true	,
		""
	)

DEFINE_bool() [16/19]

DEFINE_bool	(	integ_sins_state_check	,
		false	,
		""
	)

DEFINE_bool() [17/19]

DEFINE_bool	(	lidar_debug_log_flag	,
		false	,
		"Lidar Debug switch."
	)

DEFINE_bool() [18/19]

DEFINE_bool	(	ndt_debug_log_flag	,
		false	,
		"NDT Localization log switch"
	)

DEFINE_bool() [19/19]

DEFINE_bool	(	trans_gpstime_to_utctime	,
		false	,
		""
	)

DEFINE_double() [1/43]

DEFINE_double	(	bestgnsspose_loss_time_threshold	,
		2.	0,
		"threshold for time gap between imu and bestgnsspose time"
	)

DEFINE_double() [2/43]

DEFINE_double	(	gps_imu_timestamp_sec_diff_tolerance	,
		20e-	3,
		"gps/imu timestamp diff tolerance (sec)"
	)

DEFINE_double() [3/43]

DEFINE_double	(	gps_time_delay_tolerance	,
		1.	0,
		"gps message time delay tolerance (sec)"
	)

DEFINE_double() [4/43]

DEFINE_double	(	imu_delay_time_threshold_1	,
		0.	1,
		"imu delay time is larger than 0.1s"
	)

DEFINE_double() [5/43]

DEFINE_double	(	imu_delay_time_threshold_2	,
		0.	05,
		"imu delay time is larger than 0.05s"
	)

DEFINE_double() [6/43]

DEFINE_double	(	imu_delay_time_threshold_3	,
		0.	02,
		"imu delay time is larger than 0.02s"
	)

DEFINE_double() [7/43]

DEFINE_double	(	imu_missing_time_threshold_1	,
		0.	1,
		"imu missing time is larger than 0.1s"
	)

DEFINE_double() [8/43]

DEFINE_double	(	imu_missing_time_threshold_2	,
		0.	05,
		"imu missing time is larger than 0.05s"
	)

DEFINE_double() [9/43]

DEFINE_double	(	imu_missing_time_threshold_3	,
		0.	01,
		"imu missing time is larger than 0.01s"
	)

DEFINE_double() [10/43]

DEFINE_double	(	imu_rate	,
		1.	0,
		""
	)

DEFINE_double() [11/43]

DEFINE_double	(	imu_to_ant_offset_ux	,
		0.	0,
		"Imu ant offset x uncertainty"
	)

DEFINE_double() [12/43]

DEFINE_double	(	imu_to_ant_offset_uy	,
		0.	0,
		"Imu ant offset y uncertainty"
	)

DEFINE_double() [13/43]

DEFINE_double	(	imu_to_ant_offset_uz	,
		0.	0,
		"Imu ant offset z uncertainty"
	)

DEFINE_double() [14/43]

DEFINE_double	(	imu_to_ant_offset_x	,
		0.	0,
		"Imu ant offset x"
	)

DEFINE_double() [15/43]

DEFINE_double	(	imu_to_ant_offset_y	,
		0.	0,
		"Imu ant offset y"
	)

DEFINE_double() [16/43]

DEFINE_double	(	imu_to_ant_offset_z	,
		0.	0,
		"Imu ant offset z"
	)

DEFINE_double() [17/43]

DEFINE_double	(	imu_vehicle_qw	,
		1.	0,
		"Vehicle imu quaternion qw"
	)

DEFINE_double() [18/43]

DEFINE_double	(	imu_vehicle_qx	,
		0.	0,
		"Vehicle imu quaternion qx"
	)

DEFINE_double() [19/43]

DEFINE_double	(	imu_vehicle_qy	,
		0.	0,
		"Vehicle imu quaternion qy"
	)

DEFINE_double() [20/43]

DEFINE_double	(	imu_vehicle_qz	,
		0.	0,
		"Vehicle imu quaternion qz"
	)

DEFINE_double() [21/43]

DEFINE_double	(	integ_sins_state_pos_std	,
		1.	0,
		""
	)

DEFINE_double() [22/43]

DEFINE_double	(	integ_sins_state_span_time	,
		60.	0,
		""
	)

DEFINE_double() [23/43]

DEFINE_double	(	lidar_height_default	,
		1.	80,
		"The height from the center of velodyne to ground."
	)

DEFINE_double() [24/43]

DEFINE_double	(	lidar_imu_max_delay_time	,
		0.	4,
		"Lidar msg and imu msg max delay time"
	)

DEFINE_double() [25/43]

DEFINE_double	(	lidar_loss_time_threshold	,
		2.	0,
		"threshold for time gap between imu and lidar pose time"
	)

DEFINE_double() [26/43]

DEFINE_double	(	lidar_map_coverage_theshold	,
		0.	9,
		"Threshold to detect whether vehicle is out of map"
	)

DEFINE_double() [27/43]

DEFINE_double	(	localization_publish_freq	,
		100	,
		"localization publishing frequency."
	)

DEFINE_double() [28/43]

DEFINE_double	(	localization_std_x_threshold_1	,
		0.	15,
		"threshold for lateral std of localization result"
	)

DEFINE_double() [29/43]

DEFINE_double	(	localization_std_x_threshold_2	,
		0.	3,
		"threshold for lateral std of localization result"
	)

DEFINE_double() [30/43]

DEFINE_double	(	localization_std_y_threshold_1	,
		0.	15,
		"threshold for longitudinal std of localization result"
	)

DEFINE_double() [31/43]

DEFINE_double	(	localization_std_y_threshold_2	,
		0.	3,
		"threshold for longitudinal std of localization result"
	)

DEFINE_double() [32/43]

DEFINE_double	(	map_offset_x	,
		0.	0,
		"map_offsite: x"
	)

DEFINE_double() [33/43]

DEFINE_double	(	map_offset_y	,
		0.	0,
		"map_offsite: y"
	)

DEFINE_double() [34/43]

DEFINE_double	(	map_offset_z	,
		0.	0,
		"map_offsite: z"
	)

DEFINE_double() [35/43]

DEFINE_double	(	ndt_error_ndt_score	,
		2.	0,
		"error ndt fitness score threshold"
	)

DEFINE_double() [36/43]

DEFINE_double	(	ndt_line_search_step_size	,
		0.	1,
		"line search step size for ndt matching"
	)

DEFINE_double() [37/43]

DEFINE_double	(	ndt_target_resolution	,
		1.	0,
		"target resolution for ndt localization"
	)

DEFINE_double() [38/43]

DEFINE_double	(	ndt_transformation_epsilon	,
		0.	01,
		"iteration convergence condition on transformation"
	)

DEFINE_double() [39/43]

DEFINE_double	(	ndt_warnning_ndt_score	,
		1.	0,
		"warnning ndt fitness score threshold"
	)

DEFINE_double() [40/43]

DEFINE_double	(	online_resolution	,
		2.	0,
		"NDT online pointcloud resolution"
	)

DEFINE_double() [41/43]

DEFINE_double	(	report_gps_imu_time_diff_threshold	,
		0.	02,
		"report threshold of timestamp diff between gps and imu(sec)"
	)

DEFINE_double() [42/43]

DEFINE_double	(	timestamp_sec_tolerance	,
		10e-	7,
		"timestamp second tolerance"
	)

DEFINE_double() [43/43]

DEFINE_double	(	vel_threshold_get_yaw	,
		5.	0,
		""
	)

DEFINE_int32() [1/11]

DEFINE_int32	(	gnss_mode	,
		0	,
		"GNSS	Mode,
		0 for bestgnss	pose,
		1 for self gnss."
	)

DEFINE_int32() [2/11]

DEFINE_int32	(	gps_imu_compensate_ns_tolerance	,
		10000000	,
		"tolerance of GPU/IMU timestamp compensator"
	)

DEFINE_int32() [3/11]

DEFINE_int32	(	lidar_filter_size	,
		17	,
		"Lidar filter size"
	)

DEFINE_int32() [4/11]

DEFINE_int32	(	lidar_localization_mode	,
		2	,
		"Localization	mode,
		0 for	intensity,
		1 for	altitude,
		2 for fusion."
	)

DEFINE_int32() [5/11]

DEFINE_int32	(	lidar_yaw_align_mode	,
		2	,
		"image yaw align	mode,
		0 for align	off,
		" "1 for	fusion,
		2 for fusion with multithread."
	)

DEFINE_int32() [6/11]

DEFINE_int32	(	ndt_bad_score_count_threshold	,
		10	,
		"count for continuous bad ndt fitness score"
	)

DEFINE_int32() [7/11]

DEFINE_int32	(	ndt_filter_size_x	,
		48	,
		"x size for ndt searching area"
	)

DEFINE_int32() [8/11]

DEFINE_int32	(	ndt_filter_size_y	,
		48	,
		"y size for ndt searching area"
	)

DEFINE_int32() [9/11]

DEFINE_int32	(	ndt_max_iterations	,
		10	,
		"maximum iterations for NDT matching"
	)

DEFINE_int32() [10/11]

DEFINE_int32	(	point_cloud_step	,
		2	,
		"Point cloud step"
	)

DEFINE_int32() [11/11]

DEFINE_int32	(	report_threshold_err_num	,
		10	,
		"report threshold error num"
	)

DEFINE_string() [1/13]

DEFINE_string	(	ant_imu_leverarm_file	,
		"/apollo/modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml"	,
		"Ant to imu leferarm."
	)

DEFINE_string() [2/13]

DEFINE_string	(	broadcast_tf_child_frame_id	,
		"localization"	,
		"localization frame id in tf"
	)

DEFINE_string() [3/13]

DEFINE_string	(	broadcast_tf_frame_id	,
		"world"	,
		"world frame id in tf"
	)

DEFINE_string() [4/13]

DEFINE_string	(	eph_buffer_path	,
		""	,
		""
	)

DEFINE_string() [5/13]

DEFINE_string	(	lidar_extrinsics_file	,
		"/apollo/modules/localization/msf/params/velodyne_params/" "velodyne64_novatel_extrinsics_example.yaml"	,
		"Lidar extrinsics parameter file."
	)

DEFINE_string() [6/13]

DEFINE_string	(	lidar_height_file	,
		"/apollo/modules/localization/msf/params/velodyne_params/" "velodyne64_height.yaml"	,
		"Velodyne extrinsic path for the vehicle in	use,
		" "where< ros > is the placeholder of ROS root."
	)

DEFINE_string() [7/13]

DEFINE_string	(	lidar_topic	,
		"/apollo/sensor/lidar128/compensator/PointCloud2"	,
		"lidar pointcloud topic"
	)

DEFINE_string() [8/13]

DEFINE_string	(	local_map_name	,
		"local_map"	,
		"The path of localization map."
	)

DEFINE_string() [9/13]

DEFINE_string	(	localization_config_file	,
		"/apollo/modules/localization/conf/localization_config.pb.txt"	,
		"localization config file"
	)

DEFINE_string() [10/13]

DEFINE_string	(	localization_module_name	,
		"localization"	,
		"localization module name"
	)

DEFINE_string() [11/13]

DEFINE_string	(	map_visual_dir	,
		"data/map_visual"	,
		"The path of map_visual folder."
	)

DEFINE_string() [12/13]

DEFINE_string	(	ndt_map_dir	,
		"ndt_map"	,
		"subdirectory for ndt map"
	)

DEFINE_string() [13/13]

DEFINE_string	(	vehicle_imu_file	,
		"/apollo/modules/localization/msf/params" "/vehicle_params/vehicle_imu_extrinsics.yaml"	,
		"Vehicle coord to imu coord."
	)