offline_local_visualizer_main.cc 文件参考

#include <boost/program_options.hpp>
#include "modules/localization/msf/local_tool/local_visualization/offline_visual/offline_local_visualizer.h"

offline_local_visualizer_main.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 offline_local_visualizer_main.cc 第 21 行定义.

                                {
  boost::program_options::options_description boost_desc("Allowed options");
  boost_desc.add_options()("help", "produce help message")(
      "basedir", boost::program_options::value<std::string>(),
      "provide the data base dir");
 
  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("basedir")) {
    std::cout << boost_desc << std::endl;
    return 0;
  }
 
  const std::string basedir = boost_args["basedir"].as<std::string>();
  std::string map_folder = basedir + "/local_map";
  std::string map_visual_folder = basedir + "/local_map/map_visual";
  std::string pcd_folder = basedir + "/pcd";
  std::string pcd_timestamp_file = pcd_folder + "/pcd_timestamp.txt";
  std::string gnss_loc_file = pcd_folder + "/gnss_loc.txt";
  std::string lidar_loc_file = pcd_folder + "/lidar_loc.txt";
  std::string fusion_loc_file = pcd_folder + "/fusion_loc.txt";
  std::string extrinsic_file = basedir + "/velodyne_novatel_extrinsics.yaml";
 
  apollo::localization::msf::OfflineLocalVisualizer local_visualizer;
  bool success = local_visualizer.Init(
      map_folder, map_visual_folder, pcd_folder, pcd_timestamp_file,
      gnss_loc_file, lidar_loc_file, fusion_loc_file, extrinsic_file);
  if (!success) {
    return -1;
  }
  local_visualizer.Visualize();
 
  return 0;
}