apollo::localization::msf::VisualizationManager类 参考

#include <visualization_manager.h>

apollo::localization::msf::VisualizationManager 的协作图:

Public 成员函数
	VisualizationManager ()
	~VisualizationManager ()
bool	Init (const std::string &map_folder, const std::string &map_visual_folder, const Eigen::Affine3d &velodyne_extrinsic, const VisualMapParam &map_param)
bool	Init (const VisualizationManagerParams &params)
void	AddLidarFrame (const LidarVisFrame &lidar_frame)
void	AddGNSSLocMessage (const LocalizationMsg &gnss_loc_msg)
void	AddLidarLocMessage (const LocalizationMsg &lidar_loc_msg)
void	AddFusionLocMessage (const LocalizationMsg &fusion_loc_msg)
void	StartVisualization ()
void	StopVisualization ()

静态 Public 成员函数
static VisualizationManager &	GetInstance ()

详细描述

在文件 visualization_manager.h 第 149 行定义.

构造及析构函数说明

VisualizationManager()

apollo::localization::msf::VisualizationManager::VisualizationManager

(

)

在文件 visualization_manager.cc 第 278 行定义.

    : visual_engine_(),
      stop_visualization_(false),
      lidar_frame_buffer_(10),
      gnss_loc_info_buffer_(20),
      lidar_loc_info_buffer_(40),
      fusion_loc_info_buffer_(400) {}

~VisualizationManager()

apollo::localization::msf::VisualizationManager::~VisualizationManager

(

)

在文件 visualization_manager.cc 第 286 行定义.

                                            {
  if (!(stop_visualization_.load())) {
    stop_visualization_ = true;
    visual_thread_.join();
  }
}

成员函数说明

AddFusionLocMessage()

void apollo::localization::msf::VisualizationManager::AddFusionLocMessage

(

const LocalizationMsg &

fusion_loc_msg

)

在文件 visualization_manager.cc 第 353 行定义.

                                           {
  AINFO << "AddFusionLocMessage.";
  fusion_loc_info_buffer_.PushNewMessage(fusion_loc_msg.timestamp,
                                         fusion_loc_msg);
}

AddGNSSLocMessage()

void apollo::localization::msf::VisualizationManager::AddGNSSLocMessage

(

const LocalizationMsg &

gnss_loc_msg

)

在文件 visualization_manager.cc 第 341 行定义.

                                         {
  AINFO << "AddGNSSLocMessage.";
  gnss_loc_info_buffer_.PushNewMessage(gnss_loc_msg.timestamp, gnss_loc_msg);
}

AddLidarFrame()

void apollo::localization::msf::VisualizationManager::AddLidarFrame

(

const LidarVisFrame &

lidar_frame

)

在文件 visualization_manager.cc 第 333 行定义.

                                                                         {
  AINFO << "AddLidarFrame.";
  static int id = 0;
  AINFO << "id." << id;
  lidar_frame_buffer_.PushNewMessage(lidar_frame.timestamp, lidar_frame);
  id++;
}

AddLidarLocMessage()

void apollo::localization::msf::VisualizationManager::AddLidarLocMessage

(

const LocalizationMsg &

lidar_loc_msg

)

在文件 visualization_manager.cc 第 347 行定义.

                                          {
  AINFO << "AddLidarLocMessage.";
  lidar_loc_info_buffer_.PushNewMessage(lidar_loc_msg.timestamp, lidar_loc_msg);
}

GetInstance()

static VisualizationManager & apollo::localization::msf::VisualizationManager::GetInstance ( )

inlinestatic

在文件 visualization_manager.h 第 156 行定义.

                                             {
    static VisualizationManager visual_manage;
    return visual_manage;
  }

Init() [1/2]

bool apollo::localization::msf::VisualizationManager::Init	(	const std::string &	map_folder,
		const std::string &	map_visual_folder,
		const Eigen::Affine3d &	velodyne_extrinsic,
		const VisualMapParam &	map_param
	)

在文件 visualization_manager.cc 第 293 行定义.

                                                                 {
  AINFO << "Get zone id.";
  unsigned int resolution_id = 0;
  int zone_id = 0;
 
  bool success = GetZoneIdFromMapFolder(map_folder, resolution_id, &zone_id);
  if (!success) {
    AERROR << "Get zone id failed.";
    return false;
  }
  AINFO << "Get zone id succeed.";
 
  AINFO << "Init visualization engine.";
  success = visual_engine_.Init(map_folder, map_visual_folder, map_param,
                                resolution_id, zone_id, velodyne_extrinsic,
                                LOC_INFO_NUM);
  if (!success) {
    AERROR << "Visualization engine init failed.";
    return false;
  }
  AINFO << "Visualization engine init succeed.";
 
  visual_engine_.SetAutoPlay(true);
 
  return true;
}

Init() [2/2]

bool apollo::localization::msf::VisualizationManager::Init

(

const VisualizationManagerParams &

params

)

在文件 visualization_manager.cc 第 323 行定义.

                                                                        {
  lidar_frame_buffer_.SetCapacity(params.lidar_frame_buffer_capacity);
  gnss_loc_info_buffer_.SetCapacity(params.gnss_loc_info_buffer_capacity);
  lidar_loc_info_buffer_.SetCapacity(params.lidar_loc_info_buffer_capacity);
  fusion_loc_info_buffer_.SetCapacity(params.fusion_loc_info_buffer_capacity);
 
  return Init(params.map_folder, params.map_visual_folder,
              params.velodyne_extrinsic, params.map_param);
}

StartVisualization()

void apollo::localization::msf::VisualizationManager::StartVisualization

(

)

在文件 visualization_manager.cc 第 360 行定义.

                                              {
  visual_thread_ = std::thread(&VisualizationManager::DoVisualize, this);
}

StopVisualization()

void apollo::localization::msf::VisualizationManager::StopVisualization

(

)

在文件 visualization_manager.cc 第 364 行定义.

                                             {
  stop_visualization_ = true;
  visual_thread_.join();
}

---

该类的文档由以下文件生成:

• modules/localization/msf/local_tool/local_visualization/engine/visualization_manager.h
• modules/localization/msf/local_tool/local_visualization/engine/visualization_manager.cc