apollo::drivers::lslidar::parser::Convert类 参考

#include <convert.h>

apollo::drivers::lslidar::parser::Convert 的协作图:

Public 成员函数
	Convert ()=default
virtual	~Convert ()=default
void	init (const Config &lslidar_config)
void	ConvertPacketsToPointcloud (const std::shared_ptr< apollo::drivers::lslidar::LslidarScan > &scan_msg, std::shared_ptr< apollo::drivers::PointCloud > point_cloud_out)
	Callback for raw scan messages.

详细描述

在文件 convert.h 第 38 行定义.

构造及析构函数说明

Convert()

apollo::drivers::lslidar::parser::Convert::Convert ( )

default

~Convert()

virtual apollo::drivers::lslidar::parser::Convert::~Convert ( )

virtualdefault

成员函数说明

ConvertPacketsToPointcloud()

void apollo::drivers::lslidar::parser::Convert::ConvertPacketsToPointcloud	(	const std::shared_ptr< apollo::drivers::lslidar::LslidarScan > &	scan_msg,
		std::shared_ptr< apollo::drivers::PointCloud >	point_cloud_out
	)

Callback for raw scan messages.

在文件 convert.cc 第 41 行定义.

                                                            {
    AINFO_EVERY(100) << "Converting scan msg seq "
                     << scan_msg->header().sequence_num();
 
    parser_->GeneratePointcloud(scan_msg, point_cloud);
 
    if (point_cloud == nullptr || point_cloud->point().empty()) {
        AERROR << "point cloud has no point";
        return;
    }
 
    parser_->Order(point_cloud);
    point_cloud->set_is_dense(false);
}

init()

void apollo::drivers::lslidar::parser::Convert::init

(

const Config &

lslidar_config

)

在文件 convert.cc 第 27 行定义.

                                               {
    config_ = lslidar_config;
    // we use Beijing time by default
 
    AERROR << "Convert::init";
    parser_.reset(LslidarParserFactory::CreateParser(config_));
    if (parser_.get() == nullptr) {
        AFATAL << "Create parser failed.";
        return;
    }
    parser_->setup();
}

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该类的文档由以下文件生成:

• modules/drivers/lidar/lslidar/parser/convert.h
• modules/drivers/lidar/lslidar/parser/convert.cc