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fix: fix the outdated paths of local_tool of msf localization in scripts. #15501

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fix: fix the outdated paths of local_tool of msf localization in scripts. #15501

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8 changes: 4 additions & 4 deletions scripts/msf_local_evaluation.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ ODOMETRY_LOC_FILE="odometry_loc.txt"
function data_exporter() {
local BAG_FILE=$1
local OUT_FOLDER=$2
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/cyber_record_parser \
$APOLLO_BIN_PREFIX/modules/localization/msf/cyber_record_parser \
--bag_file $BAG_FILE \
--out_folder $OUT_FOLDER \
--cloud_topic $CLOUD_TOPIC \
Expand All @@ -44,20 +44,20 @@ function data_exporter() {

function compare_poses() {
local IN_FOLDER=$1
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
$APOLLO_BIN_PREFIX/modules/localization/msf/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $GNSS_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
--imu_to_ant_offset_file "$ANT_IMU_FILE" \
--compare_file "compare_gnss_odometry.txt"

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
$APOLLO_BIN_PREFIX/modules/localization/msf/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $LIDAR_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
--compare_file "compare_lidar_odometry.txt"

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
$APOLLO_BIN_PREFIX/modules/localization/msf/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $FUSION_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
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4 changes: 2 additions & 2 deletions scripts/msf_local_map_creator.sh
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Expand Up @@ -9,15 +9,15 @@ cd "${DIR}/.."

source "${DIR}/apollo_base.sh"

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true \
$APOLLO_BIN_PREFIX/modules/localization/msf/lossless_map_creator --use_plane_inliers_only true \
--pcd_folders $1 \
--pose_files $2 \
--map_folder $4 \
--zone_id $3 \
--coordinate_type UTM \
--map_resolution_type single

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_to_lossy_map \
$APOLLO_BIN_PREFIX/modules/localization/msf/lossless_map_to_lossy_map \
--srcdir $4/lossless_map \
--dstdir $4

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2 changes: 1 addition & 1 deletion scripts/msf_offline_local_visualizer.sh
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Expand Up @@ -9,5 +9,5 @@ cd "${DIR}/.."

source "${DIR}/apollo_base.sh"

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/local_visualization/offline_visual/offline_local_visualizer \
$APOLLO_BIN_PREFIX/modules/localization/msf/offline_local_visualizer \
--basedir $1
2 changes: 1 addition & 1 deletion scripts/msf_poses_interpolation.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ cd "${DIR}/.."

source "${DIR}/apollo_base.sh"

$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/poses_interpolator \
$APOLLO_BIN_PREFIX/modules/localization/msf/poses_interpolator \
--input_poses_path $1 \
--ref_timestamps_path $2 \
--extrinsic_path $3 \
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2 changes: 1 addition & 1 deletion scripts/msf_record_parser.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ OUT_FOLDER=$2
function data_exporter() {
local BAG_FILE=$1
local OUT_FOLDER=$2
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/cyber_record_parser \
$APOLLO_BIN_PREFIX/modules/localization/msf/cyber_record_parser \
--bag_file $BAG_FILE \
--out_folder $OUT_FOLDER \
--cloud_topic $CLOUD_TOPIC \
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8 changes: 4 additions & 4 deletions scripts/msf_simple_map_creator.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ CLOUD_TOPIC="/apollo/sensor/$LIDAR_TYPE/compensator/PointCloud2"
function data_exporter() {
local BAG_FILE=$1
local OUT_FOLDER=$2
/apollo/bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser \
/apollo/bazel-bin/modules/localization/msf/cyber_record_parser \
--bag_file $BAG_FILE \
--out_folder $OUT_FOLDER \
--cloud_topic $CLOUD_TOPIC \
Expand All @@ -46,15 +46,15 @@ function poses_interpolation() {
local REF_TIMESTAMPS_PATH=$2
local EXTRINSIC_PATH=$3
local OUTPUT_POSES_PATH=$4
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/poses_interpolator \
/apollo/bazel-bin/modules/localization/msf/poses_interpolator \
--input_poses_path $INPUT_POSES_PATH \
--ref_timestamps_path $REF_TIMESTAMPS_PATH \
--extrinsic_path $EXTRINSIC_PATH \
--output_poses_path $OUTPUT_POSES_PATH
}

function create_lossless_map() {
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/lossless_map_creator \
/apollo/bazel-bin/modules/localization/msf/lossless_map_creator \
--use_plane_inliers_only true \
--pcd_folders $1 \
--pose_files $2 \
Expand All @@ -65,7 +65,7 @@ function create_lossless_map() {
}

function create_lossy_map() {
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/lossless_map_to_lossy_map \
/apollo/bazel-bin/modules/localization/msf/lossless_map_to_lossy_map \
--srcdir $OUT_MAP_FOLDER/lossless_map \
--dstdir $OUT_MAP_FOLDER

Expand Down