多传感器融合定位(GPS+Wheel+camera)(1)-读取传感器数据
文章目录
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 + "