多传感器融合定位（GPS+Wheel+camera）（1）-读取传感器数据

多传感器融合定位（GPS+Wheel+camera）（1）-读取传感器数据

1、读取Kaist数据集到融合系统中

int main(int argc, char** argv) {
    if (argc != 3) {
        LOG(ERROR) << "[main]: Please input param_file, data_folder.";
        return EXIT_FAILURE;
    }

    FLAGS_minloglevel = 3;
    const std::string param_file = argv[1]; //参数文件
    const std::string data_folder = argv[2];//数据集文件

    // Create FilterFusion system.
    FilterFusion::FilterFusionSystem FilterFusion_sys(param_file);  //滤波融合系统构造函数初始化
   
    // Load all encoder data to buffer.
    //加载所有的里程计数据到缓存中
    std::unordered_map<std::string, std::string> time_encoder_map;
    if (!LoadSensorData(data_folder + "/sensor_data/encoder.csv", &time_encoder_map)) {
        LOG(ERROR) << "[main]: Failed to load encoder data.";
        return EXIT_FAILURE;
    } 

    // Load all gps data to buffer.
    //加载所有的GPS数据到缓存中
    std::unordered_map<std::string, std::string> time_gps_map;
    if (!LoadSensorData(data_folder + "/sensor_data/gps.csv", &time_gps_map)) {
        LOG(ERROR) << "[main]: Failed to load gps data.";
        return EXIT_FAILURE;
    } 
  //加载时间戳
    std::ifstream file_data_stamp(data_folder + "