apollo::drivers::velodyne::PriSecFusionComponent类 参考

#include <pri_sec_fusion_component.h>

类 apollo::drivers::velodyne::PriSecFusionComponent 继承关系图:

apollo::drivers::velodyne::PriSecFusionComponent 的协作图:

Public 成员函数
bool	Init () override
bool	Proc (const std::shared_ptr< PointCloud > &point_cloud) 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 pri_sec_fusion_component.h 第 46 行定义.

成员函数说明

Init()

bool apollo::drivers::velodyne::PriSecFusionComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 pri_sec_fusion_component.cc 第 28 行定义.

                                 {
  if (!GetProtoConfig(&conf_)) {
    AWARN << "Load config failed, config file" << ConfigFilePath();
    return false;
  }
  buffer_ptr_ = apollo::transform::Buffer::Instance();
 
  fusion_writer_ = node_->CreateWriter<PointCloud>(conf_.fusion_channel());
 
  for (const auto& channel : conf_.input_channel()) {
    auto reader = node_->CreateReader<PointCloud>(channel);
    readers_.emplace_back(reader);
  }
  return true;
}

Proc()

bool apollo::drivers::velodyne::PriSecFusionComponent::Proc ( const std::shared_ptr< PointCloud > &  point_cloud )

override

在文件 pri_sec_fusion_component.cc 第 44 行定义.

                                                  {
  auto target = std::make_shared<PointCloud>(*point_cloud);
  auto fusion_readers = readers_;
  auto start_time = Time::Now().ToSecond();
  while ((Time::Now().ToSecond() - start_time) < conf_.wait_time_s() &&
         fusion_readers.size() > 0) {
    for (auto itr = fusion_readers.begin(); itr != fusion_readers.end();) {
      (*itr)->Observe();
      if (!(*itr)->Empty()) {
        auto source = (*itr)->GetLatestObserved();
        if (conf_.drop_expired_data() && IsExpired(target, source)) {
          ++itr;
        } else {
          Fusion(target, source);
          itr = fusion_readers.erase(itr);
        }
      } else {
        ++itr;
      }
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(5));
  }
  auto diff = Time::Now().ToNanosecond() - target->header().lidar_timestamp();
  AINFO << "Pointcloud fusion diff: " << diff / 1000000 << "ms";
  fusion_writer_->Write(target);
 
  return true;
}

---

该类的文档由以下文件生成:

• modules/drivers/lidar/velodyne/fusion/pri_sec_fusion_component.h
• modules/drivers/lidar/velodyne/fusion/pri_sec_fusion_component.cc