The engine to draw all elements for visualization. 更多...

#include <visualization_engine.h>

apollo::localization::msf::VisualizationEngine 的协作图:

Public 成员函数
	VisualizationEngine ()

	~VisualizationEngine ()=default

bool	Init (const std::string &map_folder, const std::string &map_visual_folder, const VisualMapParam &map_param, const unsigned int resolution_id, const int zone_id, const Eigen::Affine3d &extrinsic, const unsigned int loc_info_num=1)

void	Visualize (::apollo::common::EigenVector< LocalizatonInfo > &&loc_infos, const ::apollo::common::EigenVector3dVec &cloud)

void	SetAutoPlay (bool auto_play)

详细描述

The engine to draw all elements for visualization.

在文件 visualization_engine.h 第 163 行定义.

构造及析构函数说明

◆ VisualizationEngine()

apollo::localization::msf::VisualizationEngine::VisualizationEngine ( )

在文件 visualization_engine.cc 第 82 行定义.

    : map_image_cache_(20),
      image_window_(1024, 1024, CV_8UC3, cv::Scalar(0, 0, 0)),
      big_window_(3072, 3072, CV_8UC3),
      tips_window_(48, 1024, CV_8UC3, cv::Scalar(0, 0, 0)) {}

◆ ~VisualizationEngine()

apollo::localization::msf::VisualizationEngine::~VisualizationEngine ( )

default

成员函数说明

◆ Init()

bool apollo::localization::msf::VisualizationEngine::Init	(	const std::string &	map_folder,
		const std::string &	map_visual_folder,
		const VisualMapParam &	map_param,
		const unsigned int	resolution_id,
		const int	zone_id,
		const Eigen::Affine3d &	extrinsic,
		const unsigned int	loc_info_num = `1`
	)

在文件 visualization_engine.cc 第 88 行定义.

                                                                {
  map_folder_ = map_folder;
  map_visual_folder_ = map_visual_folder;
  map_param_ = map_param;
  velodyne_extrinsic_ = extrinsic;
  loc_info_num_ = loc_info_num;
  expected_car_loc_id_ = loc_info_num;
 
  trajectory_groups_.resize(loc_info_num_);
 
  for (unsigned int i = 0; i < loc_info_num_; i++) {
    cv::Mat tem_mat = cv::imread(car_img_path[i % 3]);
    if (tem_mat.empty()) {
      is_draw_car_ = false;
      break;
    }
    car_img_mats_.push_back(tem_mat);
  }
 
  if (resolution_id_ >= map_param_.map_resolutions.size()) {
    AERROR << "Invalid resolution id.";
    return false;
  }
 
  zone_id_ = zone_id;
  resolution_id_ = resolution_id;
 
  cloud_img_ =
      cv::Mat(cv::Size(map_param_.map_node_size_x, map_param_.map_node_size_y),
              CV_8UC3);
  cloud_img_mask_ =
      cv::Mat(cv::Size(map_param_.map_node_size_x, map_param_.map_node_size_y),
              CV_8UC1);
 
  Preprocess(map_folder, map_visual_folder);
 
  std::string params_file = image_visual_resolution_path_ + "/param.txt";
  bool success = InitOtherParams(params_file);
  if (!success) {
    AERROR << "Init other params failed.";
  }
 
  cv::namedWindow(window_name_, cv::WINDOW_NORMAL);
  cv::resizeWindow(window_name_, 1024, 1024);
 
  is_init_ = true;
 
  return true;
}

◆ SetAutoPlay()

void apollo::localization::msf::VisualizationEngine::SetAutoPlay ( bool auto_play )

在文件 visualization_engine.cc 第 176 行定义.

                                                    {
  auto_play_ = auto_play;
}

◆ Visualize()

void apollo::localization::msf::VisualizationEngine::Visualize	(	::apollo::common::EigenVector< LocalizatonInfo > &&	loc_infos,
		const ::apollo::common::EigenVector3dVec &	cloud
	)

在文件 visualization_engine.cc 第 144 行定义.

                                               {
  if (!is_init_) {
    AERROR << "Visualziation should be init first.";
    return;
  }
 
  if (loc_infos.size() != loc_info_num_) {
    AERROR << "Please check the localization info num.";
    return;
  }
 
  cur_loc_infos_ = std::move(loc_infos);
 
  if (!UpdateCarLocId(expected_car_loc_id_)) {
    if (!UpdateCarLocId(car_loc_id_)) {
      if (!UpdateCarLocId()) {
        return;
      }
    } else {
      if (expected_car_loc_id_ == loc_info_num_) {
        expected_car_loc_id_ = car_loc_id_;
      }
    }
  }
 
  UpdateTrajectoryGroups();
  cloud_ = cloud;
  Draw();
}

该类的文档由以下文件生成:

modules/localization/msf/local_tool/local_visualization/engine/visualization_engine.h
modules/localization/msf/local_tool/local_visualization/engine/visualization_engine.cc

Public 成员函数