apollo::image_decompress::ImageDecompressComponent类 参考

#include <image_decompress.h>

类 apollo::image_decompress::ImageDecompressComponent 继承关系图:

apollo::image_decompress::ImageDecompressComponent 的协作图:

Public 成员函数
bool	Init () override
bool	Proc (const std::shared_ptr< apollo::drivers::CompressedImage > &image) override
Public 成员函数 继承自 apollo::cyber::Component< apollo::drivers::CompressedImage >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< apollo::drivers::CompressedImage > &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 image_decompress.h 第 28 行定义.

成员函数说明

Init()

bool apollo::image_decompress::ImageDecompressComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 image_decompress.cc 第 28 行定义.

                                    {
  if (!GetProtoConfig(&config_)) {
    AERROR << "Parse config file failed: " << ConfigFilePath();
    return false;
  }
  AINFO << "Decompress config: \n" << config_.DebugString();
  writer_ = node_->CreateWriter<Image>(config_.channel_name());
  return true;
}

Proc()

bool apollo::image_decompress::ImageDecompressComponent::Proc ( const std::shared_ptr< apollo::drivers::CompressedImage > &  image )

override

在文件 image_decompress.cc 第 38 行定义.

                                                                         {
  auto image = std::make_shared<Image>();
  image->mutable_header()->CopyFrom(compressed_image->header());
  if (compressed_image->has_measurement_time()) {
    image->set_measurement_time(compressed_image->measurement_time());
  } else {
    image->set_measurement_time(compressed_image->header().timestamp_sec());
  }
  std::vector<uint8_t> compressed_raw_data(compressed_image->data().begin(),
                                           compressed_image->data().end());
  cv::Mat mat_image = cv::imdecode(compressed_raw_data, cv::IMREAD_COLOR);
  cv::cvtColor(mat_image, mat_image, cv::COLOR_BGR2RGB);
  image->set_width(mat_image.cols);
  image->set_height(mat_image.rows);
  // Now olny rgb
  image->set_encoding("rgb8");
  image->set_step(3 * image->width());
 
  auto size = mat_image.step * mat_image.rows;
  image->set_data(&(mat_image.data[0]), size);
  writer_->Write(image);
  return true;
}

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该类的文档由以下文件生成:

• modules/drivers/tools/image_decompress/image_decompress.h
• modules/drivers/tools/image_decompress/image_decompress.cc