poses_interpolator.cc 文件参考

#include <boost/program_options.hpp>
#include "cyber/common/log.h"
#include "modules/localization/msf/local_tool/map_creation/poses_interpolation/poses_interpolation.h"

poses_interpolator.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 poses_interpolator.cc 第 22 行定义.

                                {
  boost::program_options::options_description boost_desc("Allowed options");
  boost_desc.add_options()("help", "produce help message")(
      "input_poses_path", boost::program_options::value<std::string>(),
      "provide input poses path")("ref_timestamps_path",
                                  boost::program_options::value<std::string>(),
                                  "provide reference timestamp path")(
      "extrinsic_path", boost::program_options::value<std::string>(),
      "provide velodyne extrinsic path")(
      "output_poses_path", boost::program_options::value<std::string>(),
      "provide output poses path");
 
  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("input_poses_path") ||
      !boost_args.count("ref_timestamps_path") ||
      !boost_args.count("extrinsic_path") ||
      !boost_args.count("output_poses_path")) {
    AERROR << boost_desc;
    return 0;
  }
 
  std::string input_poses_path =
      boost_args["input_poses_path"].as<std::string>();
  std::string ref_timestamps_path =
      boost_args["ref_timestamps_path"].as<std::string>();
  std::string extrinsic_path = boost_args["extrinsic_path"].as<std::string>();
  std::string out_poses_path =
      boost_args["output_poses_path"].as<std::string>();
 
  apollo::localization::msf::PosesInterpolation pose_interpolation;
  bool success = pose_interpolation.Init(input_poses_path, ref_timestamps_path,
                                         out_poses_path, extrinsic_path);
 
  if (success) {
    pose_interpolation.DoInterpolation();
  }
 
  return 0;
}