#include <online_visualizer_component.h>

类 apollo::localization::msf::OnlineVisualizerComponent 继承关系图:

apollo::localization::msf::OnlineVisualizerComponent 的协作图:

Public 成员函数
	OnlineVisualizerComponent ()

	~OnlineVisualizerComponent ()

bool	Init () override
	module initialization function

bool	Proc (const std::shared_ptr< drivers::PointCloud > &msg) override

Public 成员函数继承自 apollo::cyber::Component< drivers::PointCloud >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< drivers::PointCloud > &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 online_visualizer_component.h 第 48 行定义.

构造及析构函数说明

◆ OnlineVisualizerComponent()

apollo::localization::msf::OnlineVisualizerComponent::OnlineVisualizerComponent ( )

在文件 online_visualizer_component.cc 第 33 行定义.

33{}

◆ ~OnlineVisualizerComponent()

apollo::localization::msf::OnlineVisualizerComponent::~OnlineVisualizerComponent ( )

在文件 online_visualizer_component.cc 第 35 行定义.

                                                      {
  VisualizationManager::GetInstance().StopVisualization();
}

成员函数说明

◆ Init()

bool apollo::localization::msf::OnlineVisualizerComponent::Init ( )

overridevirtual

module initialization function

返回: initialization status

实现了 apollo::cyber::ComponentBase.

在文件 online_visualizer_component.cc 第 39 行定义.

                                     {
  if (!InitConfig()) {
    AERROR << "InitParams failed.";
    return false;
  }
 
  if (!InitIO()) {
    AERROR << "InitIO failed.";
    return false;
  }
 
  VisualizationManager::GetInstance().StartVisualization();
 
  return true;
}

◆ Proc()

bool apollo::localization::msf::OnlineVisualizerComponent::Proc ( const std::shared_ptr< drivers::PointCloud > & msg )

override

在文件 online_visualizer_component.cc 第 134 行定义.

                                                 {
  LidarVisFrame lidar_vis_frame;
  lidar_vis_frame.timestamp = cyber::Time(msg->measurement_time()).ToSecond();
 
  std::vector<unsigned char> intensities;
  ParsePointCloudMessage(msg, &lidar_vis_frame.pt3ds, &intensities);
 
  static unsigned int id = 1;
  lidar_vis_frame.frame_id = id;
  VisualizationManager::GetInstance().AddLidarFrame(lidar_vis_frame);
 
  id++;
  return true;
}

该类的文档由以下文件生成:

modules/localization/msf/local_tool/local_visualization/online_visual/online_visualizer_component.h
modules/localization/msf/local_tool/local_visualization/online_visual/online_visualizer_component.cc

Public 成员函数