apollo::perception::algorithm::SensorManager类 参考

#include <sensor_manager.h>

apollo::perception::algorithm::SensorManager 的协作图:

Public 成员函数
bool	Init ()
bool	IsSensorExist (const std::string &name) const
bool	GetSensorInfo (const std::string &name, apollo::perception::base::SensorInfo *sensor_info) const
std::shared_ptr< BaseCameraDistortionModel >	GetDistortCameraModel (const std::string &name) const
std::shared_ptr< BaseCameraModel >	GetUndistortCameraModel (const std::string &name) const
bool	IsHdLidar (const std::string &name) const
bool	IsHdLidar (const apollo::perception::base::SensorType &type) const
bool	IsLdLidar (const std::string &name) const
bool	IsLdLidar (const apollo::perception::base::SensorType &type) const
bool	IsLidar (const std::string &name) const
bool	IsLidar (const apollo::perception::base::SensorType &type) const
bool	IsRadar (const std::string &name) const
bool	IsRadar (const apollo::perception::base::SensorType &type) const
bool	IsCamera (const std::string &name) const
bool	IsCamera (const apollo::perception::base::SensorType &type) const
bool	IsUltrasonic (const std::string &name) const
bool	IsUltrasonic (const apollo::perception::base::SensorType &type) const
bool	IsMainSensor (const std::string &name) const
std::string	GetFrameId (const std::string &name) const

详细描述

在文件 sensor_manager.h 第 35 行定义.

成员函数说明

GetDistortCameraModel()

std::shared_ptr< BaseCameraDistortionModel > apollo::perception::algorithm::SensorManager::GetDistortCameraModel

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 123 行定义.

                                 {
  const auto& itr = distort_model_map_.find(name);
 
  return itr == distort_model_map_.end() ? nullptr : itr->second;
}

GetFrameId()

std::string apollo::perception::algorithm::SensorManager::GetFrameId

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 233 行定义.

                                                               {
  const auto& itr = sensor_info_map_.find(name);
  return itr == sensor_info_map_.end() ? std::string("") : itr->second.frame_id;
}

GetSensorInfo()

bool apollo::perception::algorithm::SensorManager::GetSensorInfo	(	const std::string &	name,
		apollo::perception::base::SensorInfo *	sensor_info
	)		const

在文件 sensor_manager.cc 第 107 行定义.

                                                                 {
  if (sensor_info == nullptr) {
    AERROR << "Nullptr error.";
    return false;
  }
 
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  *sensor_info = itr->second;
  return true;
}

GetUndistortCameraModel()

std::shared_ptr< BaseCameraModel > apollo::perception::algorithm::SensorManager::GetUndistortCameraModel

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 130 行定义.

                                 {
  const auto& itr = undistort_model_map_.find(name);
 
  return itr == undistort_model_map_.end() ? nullptr : itr->second;
}

Init()

bool apollo::perception::algorithm::SensorManager::Init

(

)

在文件 sensor_manager.cc 第 39 行定义.

                         {
  std::lock_guard<std::mutex> lock(mutex_);
  if (inited_) {
    return true;
  }
 
  sensor_info_map_.clear();
  distort_model_map_.clear();
  undistort_model_map_.clear();
 
  std::string config_file = GetCommonConfigFile(FLAGS_obs_sensor_meta_file);
 
  MultiSensorMeta sensor_list_proto;
  if (!GetProtoFromASCIIFile(config_file, &sensor_list_proto)) {
    AERROR << "Invalid MultiSensorMeta file: " << config_file;
    return false;
  }
 
  auto AddSensorInfo = [this](const SensorMeta& sensor_meta_proto) {
    SensorInfo sensor_info;
    sensor_info.name = sensor_meta_proto.name();
    sensor_info.type = static_cast<SensorType>(sensor_meta_proto.type());
    sensor_info.orientation =
        static_cast<SensorOrientation>(sensor_meta_proto.orientation());
    sensor_info.frame_id = sensor_meta_proto.name();
    sensor_info.is_main_sensor = sensor_meta_proto.is_main_sensor();
 
    auto pair = sensor_info_map_.insert(
        make_pair(sensor_meta_proto.name(), sensor_info));
    if (!pair.second) {
      AERROR << "Duplicate sensor name error.";
      return false;
    }
 
    if (this->IsCamera(sensor_info.type)) {
      std::shared_ptr<BrownCameraDistortionModel> distort_model(
          new BrownCameraDistortionModel());
      // Todo(zero): Need change to GetCommonConfigFile
      auto intrinsic_file = IntrinsicPath(sensor_info.frame_id);
      if (!LoadBrownCameraIntrinsic(intrinsic_file, distort_model.get())) {
        AERROR << "Failed to load camera intrinsic:" << intrinsic_file;
        return false;
      }
      distort_model_map_.insert(make_pair(
          sensor_meta_proto.name(),
          std::dynamic_pointer_cast<BaseCameraDistortionModel>(distort_model)));
      undistort_model_map_.insert(make_pair(sensor_meta_proto.name(),
                                            distort_model->get_camera_model()));
    }
    return true;
  };
 
  for (const SensorMeta& sensor_meta_proto : sensor_list_proto.sensor_meta()) {
    if (!AddSensorInfo(sensor_meta_proto)) {
      AERROR << "Failed to add sensor_info: " << sensor_meta_proto.name();
      return false;
    }
  }
 
  inited_ = true;
  AINFO << "Init sensor_manager success.";
  return true;
}

IsCamera() [1/2]

bool apollo::perception::algorithm::SensorManager::IsCamera

(

const apollo::perception::base::SensorType &

type

)

const

IsCamera() [2/2]

bool apollo::perception::algorithm::SensorManager::IsCamera

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 195 行定义.

                                                        {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsCamera(type);
}

IsHdLidar() [1/2]

bool apollo::perception::algorithm::SensorManager::IsHdLidar

(

const apollo::perception::base::SensorType &

type

)

const

IsHdLidar() [2/2]

bool apollo::perception::algorithm::SensorManager::IsHdLidar

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 137 行定义.

                                                         {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsHdLidar(type);
}

IsLdLidar() [1/2]

bool apollo::perception::algorithm::SensorManager::IsLdLidar

(

const apollo::perception::base::SensorType &

type

)

const

IsLdLidar() [2/2]

bool apollo::perception::algorithm::SensorManager::IsLdLidar

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 152 行定义.

                                                         {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsLdLidar(type);
}

IsLidar() [1/2]

bool apollo::perception::algorithm::SensorManager::IsLidar

(

const apollo::perception::base::SensorType &

type

)

const

IsLidar() [2/2]

bool apollo::perception::algorithm::SensorManager::IsLidar

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 166 行定义.

                                                       {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsLidar(type);
}

IsMainSensor()

bool apollo::perception::algorithm::SensorManager::IsMainSensor

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 224 行定义.

                                                            {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  return itr->second.is_main_sensor;
}

IsRadar() [1/2]

bool apollo::perception::algorithm::SensorManager::IsRadar

(

const apollo::perception::base::SensorType &

type

)

const

IsRadar() [2/2]

bool apollo::perception::algorithm::SensorManager::IsRadar

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 180 行定义.

                                                       {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsRadar(type);
}

IsSensorExist()

bool apollo::perception::algorithm::SensorManager::IsSensorExist

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 103 行定义.

                                                             {
  return sensor_info_map_.find(name) != sensor_info_map_.end();
}

IsUltrasonic() [1/2]

bool apollo::perception::algorithm::SensorManager::IsUltrasonic

(

const apollo::perception::base::SensorType &

type

)

const

IsUltrasonic() [2/2]

bool apollo::perception::algorithm::SensorManager::IsUltrasonic

(

const std::string &

name

)

const

在文件 sensor_manager.cc 第 210 行定义.

                                                            {
  const auto& itr = sensor_info_map_.find(name);
  if (itr == sensor_info_map_.end()) {
    return false;
  }
 
  SensorType type = itr->second.type;
  return this->IsUltrasonic(type);
}

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该类的文档由以下文件生成:

• modules/perception/common/algorithm/sensor_manager/sensor_manager.h
• modules/perception/common/algorithm/sensor_manager/sensor_manager.cc