apollo::drivers::smartereye::CompressComponent类 参考

#include <compress_component.h>

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

apollo::drivers::smartereye::CompressComponent 的协作图:

Public 成员函数
bool	Init () override
bool	Proc (const std::shared_ptr< Image > &image) override
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &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 36 行定义.

成员函数说明

Init()

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

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 compress_component.cc 第 30 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;
  }
 
  writer_ = node_->CreateWriter<CompressedImage>(
      config_.compress_conf().output_channel());
  return true;
}

Proc()

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

override

在文件 compress_component.cc 第 96 行定义.

                                                              {
    ADEBUG << "procing compressed";
    if (cyber_unlikely(image->height() != height_ || image->width() != width_)) {
        AERROR << "Setting resolution is " << width_ << "x" << height_ << ", but received " << image->width() << "x"
               << image->height();
        return false;
    }
    // auto compressed_image = image_pool_->GetObject();
    auto compressed_image = writer_->AcquireMessage();
    compressed_image->mutable_header()->CopyFrom(image->header());
    compressed_image->set_frame_id(image->frame_id());
    compressed_image->set_measurement_time(image->measurement_time());
    compressed_image->set_height(height_);
    compressed_image->set_width(width_);
 
#ifdef __aarch64__
    compressed_image->set_format(image->encoding() + "; jpeg compressed");
    auto nvbuffer = nvbuffer_pool_->GetObject();
    auto downsampled_image = downsampled_image_pool_->GetObject();
    if (cyber_unlikely(
                YUV422ToYUV420(const_cast<char*>(image->data().data()), (downsampled_image->first).data()) != 0)) {
        AERROR << "Failed to downsample image";
        return false;
    }
    if (cyber_unlikely(ReadBuffer((downsampled_image->first).data(), &(*nvbuffer)) != 0)) {
        AERROR << "Failed to convert image to nvbuffer";
        return false;
    }
    auto out_buffer = (downsampled_image->second).data();
    auto buffer_size = static_cast<uint64_t>(buffer_size_);
 
    auto ret = jpegenc_->encodeFromBuffer(*nvbuffer, JCS_YCbCr, &out_buffer, buffer_size, 95);
    if (cyber_unlikely(ret != 0)) {
        AERROR << "nvjpeg failed to compress image";
    }
    compressed_image->set_data((downsampled_image->second).data(), buffer_size);
#else
    compressed_image->set_format(image->encoding() + "; jpeg compressed bgr8");
 
    std::vector<int> params;
    params.resize(3, 0);
    params[0] = cv::IMWRITE_JPEG_QUALITY;
    params[1] = 95;
 
    try {
        cv::Mat mat_image(
                image->height(), image->width(), CV_8UC3, const_cast<char*>(image->data().data()), image->step());
        cv::Mat tmp_mat;
        cv::cvtColor(mat_image, tmp_mat, cv::COLOR_RGB2BGR);
        std::vector<uint8_t> compress_buffer;
        if (!cv::imencode(".jpg", tmp_mat, compress_buffer, params)) {
            AERROR << "cv::imencode (jpeg) failed on input image";
            return false;
        }
        compressed_image->set_data(compress_buffer.data(), compress_buffer.size());
    } catch (std::exception& e) {
        AERROR << "cv::imencode (jpeg) exception :" << e.what();
        return false;
    }
#endif
    writer_->Write(compressed_image);
    return true;
}

---

该类的文档由以下文件生成:

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