apollo::drivers::video::CompCameraH265Compressed类 参考

#include <video_driver_component.h>

类 apollo::drivers::video::CompCameraH265Compressed 继承关系图:

apollo::drivers::video::CompCameraH265Compressed 的协作图:

Public 成员函数
	~CompCameraH265Compressed ()
bool	Init ()
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 video_driver_component.h 第 38 行定义.

构造及析构函数说明

~CompCameraH265Compressed()

apollo::drivers::video::CompCameraH265Compressed::~CompCameraH265Compressed ( )

inline

在文件 video_driver_component.h 第 40 行定义.

                              {
    if (video_thread_->joinable()) {
      video_thread_->join();
    }
  }

成员函数说明

Init()

bool apollo::drivers::video::CompCameraH265Compressed::Init ( )

virtual

实现了 apollo::cyber::ComponentBase.

在文件 video_driver_component.cc 第 27 行定义.

                                    {
  AINFO << "Initialize video driver component.";
 
  CameraH265Config video_config;
  if (!GetProtoConfig(&video_config)) {
    return false;
  }
 
  AINFO << "Velodyne config: " << video_config.DebugString();
 
  camera_deivce_.reset(new CameraDriver(&video_config));
  camera_deivce_->Init();
 
  if (camera_deivce_->Record()) {
    // Use current directory to save record file if H265_SAVE_FOLDER environment
    // is not set.
    record_folder_ = cyber::common::GetEnv("H265_SAVE_FOLDER", ".");
    AINFO << "Record folder: " << record_folder_;
 
    struct stat st;
    if (stat(record_folder_.c_str(), &st) < 0) {
      bool ret = EnsureDirectory(record_folder_);
      AINFO_IF(ret) << "Record folder is created successfully.";
    }
  }
  pb_image_.reset(new CompressedImage);
  pb_image_->mutable_data()->reserve(1920 * 1080 * 4);
 
  writer_ = node_->CreateWriter<CompressedImage>(
      video_config.compress_conf().output_channel());
 
  runing_ = true;
  video_thread_ = std::shared_ptr<std::thread>(
      new std::thread(std::bind(&CompCameraH265Compressed::VideoPoll, this)));
  video_thread_->detach();
 
  return true;
}

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该类的文档由以下文件生成:

• modules/drivers/video/video_driver_component.h
• modules/drivers/video/video_driver_component.cc