python代码示例 读取并解析apollo 定位数据

可以使用Python中的protobuf库来读取和解析apollo定位数据。下面是一个示例代码：

import os
import sys
import argparse
import time

# Add apollo module path
current_path = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(current_path, "../../apollo"))

from modules.localization.proto import localization_pb2

def parse_args():
    parser = argparse.ArgumentParser(description='Read and parse apollo localization data.')
    parser.add_argument('--file_path', type=str, help='Path to the apollo localization data file.')
    return parser.parse_args()

def main(args):
    with open(args.file_path, 'rb') as f:
        localization_pb = localization_pb2.LocalizationEstimate()
        localization_pb.ParseFromString(f.read())

        print("Localization time: ", localization_pb.header.timestamp_sec)
        print("Localization position: ({}, {})".format(
            localization_pb.pose.position.x,
            localization_pb.pose.position.y))
        print("Localization orientation: ({}, {}, {})".format(
            localization_pb.pose.orientation.qw,
            localization_pb.pose.orientation.qx,
            localization_pb.pose.orientation.qy,
            localization_pb.pose.orientation.qz))

if __name__ == "__main__":
    args = parse_args()
    main(args)

其中，代码通过protobuf库解析了apollo定位数据，并打印了时间戳以及车辆的位置和朝向信息。使用时需要指定`--file_path`参数，即数据文件路径。