apollo::cyber::LidarPointcloud类 参考

#include <lidar_pointcloud.h>

类 apollo::cyber::LidarPointcloud 继承关系图:

apollo::cyber::LidarPointcloud 的协作图:

Public 成员函数
	LidarPointcloud ()
	~LidarPointcloud ()
virtual bool	ConvertMsg (InputTypes< InputMsgPtr > &, OutputTypes< OutputMsgPtr > &)
	convert the message between ros and apollo
Public 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< InputMsgPtr >, OutputTypes< OutputMsgPtr > >
	RosApolloMessageConverter ()
	RosApolloMessageConverter ()
	~RosApolloMessageConverter () override
	~RosApolloMessageConverter () override
bool	Init () override
bool	Init () override
Public 成员函数 继承自 apollo::cyber::MessageConverter
	MessageConverter ()
virtual	~MessageConverter ()
bool	IsInit () const

额外继承的成员函数
Protected 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< InputMsgPtr >, OutputTypes< OutputMsgPtr > >
virtual bool	ConvertMsg (const std::shared_ptr< InputTypes< InputMsgPtr > > &ros_msg0, const std::shared_ptr< OutputTypes< OutputMsgPtr > > &ros_msg1, const std::shared_ptr< NullType > &ros_msg2, const std::shared_ptr< NullType > &ros_msg3, std::shared_ptr< NullType > &apollo_msg0, std::shared_ptr< NullType > &apollo_msg1, std::shared_ptr< NullType > &apollo_msg2, std::shared_ptr< NullType > &apollo_msg3)=0
virtual bool	ConvertMsg (InputTypes &input, OutputTypes &output)=0
Protected 成员函数 继承自 apollo::cyber::MessageConverter
bool	LoadConfig (ConverterConf *config)
Protected 属性 继承自 apollo::cyber::MessageConverter
std::atomic< bool >	init_
std::unique_ptr< apollo::cyber::Node >	cyber_node_
std::vector< std::shared_ptr< apollo::cyber::proto::RoleAttributes > >	apollo_attrs_
std::vector< std::shared_ptr< apollo::cyber::ReaderBase > >	apollo_readers_
std::vector< std::shared_ptr< apollo::cyber::WriterBase > >	apollo_writers_
const std::string	node_name_ = "converter_base"
ConverterConf	converter_conf_

详细描述

在文件 lidar_pointcloud.h 第 50 行定义.

构造及析构函数说明

LidarPointcloud()

apollo::cyber::LidarPointcloud::LidarPointcloud ( )

inline

在文件 lidar_pointcloud.h 第 54 行定义.

{}

~LidarPointcloud()

apollo::cyber::LidarPointcloud::~LidarPointcloud ( )

inline

在文件 lidar_pointcloud.h 第 55 行定义.

{}

成员函数说明

ConvertMsg()

bool apollo::cyber::LidarPointcloud::ConvertMsg ( InputTypes< InputMsgPtr > &  in, OutputTypes< OutputMsgPtr > &  out  )

virtual

convert the message between ros and apollo

参数

InputMsgPtr	shared pointer of input message
OutputMsgPtr	shared pointer of output message

返回

result, true for success

在文件 lidar_pointcloud.cc 第 170 行定义.

                                                                 {
#ifdef ENABLE_ROS_MSG
  auto in_msg = std::get<0>(in.values);
  auto out_msg = std::get<0>(out.values);
  float x, y, z;
  float intensity = -1.0;
  double timestamp = 0.0;
  auto& cloud_msg = (*in_msg);
 
  bool has_x = false, has_y = false, has_z = false, has_intensity = false,
       has_time = false;
  std::string time_field_name;
  sensor_msgs::msg::PointField time_field_type;
  sensor_msgs::msg::PointField intensity_field_type;
  for (const auto& field : cloud_msg.fields) {
    if (field.name == "x") has_x = true;
    if (field.name == "y") has_y = true;
    if (field.name == "z") has_z = true;
    if (field.name == "intensity") {
      has_intensity = true;
      intensity_field_type = field;
    }
    if (field.name == "t" || field.name == "time" ||
        field.name == "timestamp") {
      has_time = true;
      time_field_type = field;
      time_field_name = field.name;
    }
  }
  if (!(has_x && has_y && has_z)) {
    AERROR << "PointCloud2 does not contain x, y, z fields.";
    return false;
  }
 
  sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud_msg, "x");
  sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud_msg, "y");
  sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud_msg, "z");
 
  for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
    x = *iter_x;
    y = *iter_y;
    z = *iter_z;
 
    auto pointcloud = out_msg->add_point();
    pointcloud->set_x(x);
    pointcloud->set_y(y);
    pointcloud->set_z(z);
  }
  if (has_time) {
    ParseField(time_field_type, out_msg, time_field_name, cloud_msg);
  }
  if (has_intensity) {
    ParseField(intensity_field_type, out_msg, "intensity", cloud_msg);
  }
#endif
  return true;
}

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该类的文档由以下文件生成:

• cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
• cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc