sim_map_generator.cc 文件参考

#include "absl/strings/match.h"
#include "gflags/gflags.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/util/points_downsampler.h"
#include "modules/map/hdmap/adapter/opendrive_adapter.h"
#include "modules/map/hdmap/hdmap_util.h"

sim_map_generator.cc 的引用(Include)关系图:

浏览源代码.

函数
	DEFINE_string (output_dir, "/tmp/", "output map directory")
	A map tool to generate a downsampled map to be displayed by dreamview frontend.
	DEFINE_double (angle_threshold, 1./180 *M_PI, "Points are sampled when the accumulated direction change " "exceeds the threshold")
	DEFINE_int32 (downsample_distance, 5, "downsample rate for a normal path")
	DEFINE_int32 (steep_turn_downsample_distance, 1, "downsample rate for a steep turn path")
int	main (int32_t argc, char **argv)

函数说明

DEFINE_double()

DEFINE_double	(	angle_threshold	,
		1./180 *	M_PI,
		"Points are sampled when the accumulated direction change " "exceeds the threshold"
	)

DEFINE_int32() [1/2]

DEFINE_int32	(	downsample_distance	,
		5	,
		"downsample rate for a normal path"
	)

DEFINE_int32() [2/2]

DEFINE_int32	(	steep_turn_downsample_distance	,
		1	,
		"downsample rate for a steep turn path"
	)

DEFINE_string()

DEFINE_string	(	output_dir	,
		"/tmp/"	,
		"output map directory"
	)

A map tool to generate a downsampled map to be displayed by dreamview frontend.

main()

int main	(	int32_t	argc,
		char **	argv
	)

在文件 sim_map_generator.cc 第 107 行定义.

                                    {
  google::InitGoogleLogging(argv[0]);
  FLAGS_alsologtostderr = true;
  FLAGS_v = 3;
 
  google::ParseCommandLineFlags(&argc, &argv, true);
 
  Map map_pb;
  const auto map_file = apollo::hdmap::BaseMapFile();
  if (absl::EndsWith(map_file, ".xml")) {
    ACHECK(OpendriveAdapter::LoadData(map_file, &map_pb));
  } else {
    ACHECK(GetProtoFromFile(map_file, &map_pb)) << "Fail to open: " << map_file;
  }
 
  DownsampleMap(&map_pb);
  OutputMap(map_pb);
  AINFO << "sim_map generated at:" << FLAGS_output_dir;
 
  return 0;
}