apollo::drivers::camera::CompressComponent类 参考

#include <compress_component.h>

类 apollo::drivers::camera::CompressComponent 继承关系图:

apollo::drivers::camera::CompressComponent 的协作图:

Public 成员函数
bool	Init () override
bool	Proc (const std::shared_ptr< apollo::drivers::Image > &image) override
	~CompressComponent ()
Public 成员函数 继承自 apollo::cyber::Component< apollo::drivers::Image >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< apollo::drivers::Image > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &msg3)
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const TimerComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
virtual void	Clear ()
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 compress_component.h 第 38 行定义.

构造及析构函数说明

~CompressComponent()

apollo::drivers::camera::CompressComponent::~CompressComponent ( )

inline

在文件 compress_component.h 第 45 行定义.

{}

成员函数说明

Init()

bool apollo::drivers::camera::CompressComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 compress_component.cc 第 43 行定义.

                             {
    if (!GetProtoConfig(&config_)) {
        AERROR << "Parse config file failed: " << ConfigFilePath();
        return false;
    }
    AINFO << "Camera config: \n" << config_.DebugString();
    // try {
    //     image_pool_.reset(new CCObjectPool<CompressedImage>(config_.compress_conf().image_pool_size()));
    //     image_pool_->ConstructAll();
    // } catch (const std::bad_alloc& e) {
    //     AERROR << e.what();
    //     return false;
    // }
 
    width_ = config_.compress_conf().width();
    height_ = config_.compress_conf().height();
 
    writer_ = node_->CreateWriter<CompressedImage>(config_.compress_conf().output_channel());
 
#ifdef __aarch64__
    buffer_size_ = config_.compress_conf().width() * config_.compress_conf().height() * 3 / 2;
    try {
        nvbuffer_pool_.reset(new CCObjectPool<NvBuffer>(config_.compress_conf().image_pool_size()));
        nvbuffer_pool_->ConstructAll(
                V4L2_PIX_FMT_YUV420M, config_.compress_conf().width(), config_.compress_conf().height(), 0);
        for (size_t i = 0; i < config_.compress_conf().image_pool_size(); i++) {
            nvbuffer_pool_->GetObject()->allocateMemory();
        }
    } catch (const std::bad_alloc& e) {
        AERROR << e.what();
        return false;
    }
 
    try {
        downsampled_image_pool_.reset(new CCObjectPool<std::pair<std::vector<char>, std::vector<unsigned char>>>(
                config_.compress_conf().image_pool_size()));
        downsampled_image_pool_->ConstructAll();
        for (size_t i = 0; i < config_.compress_conf().image_pool_size(); i++) {
            (downsampled_image_pool_->GetObject()->first).reserve(buffer_size_);
            (downsampled_image_pool_->GetObject()->second).reserve(buffer_size_);
        }
    } catch (const std::bad_alloc& e) {
        AERROR << e.what();
        return false;
    }
 
    jpegenc_ = NvJPEGEncoder::createJPEGEncoder("jpegenc");
    jpegenc_->setCropRect(0, 0, 0, 0);
#endif
 
    return true;
}

Proc()

bool apollo::drivers::camera::CompressComponent::Proc ( const std::shared_ptr< apollo::drivers::Image > &  image )

override

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该类的文档由以下文件生成:

• modules/drivers/camera/compress_component.h
• modules/drivers/camera/compress_component.cc