apollo::perception::camera::CameraDetectionMultiStageComponent类 参考

#include <camera_detection_multi_stage_component.h>

类 apollo::perception::camera::CameraDetectionMultiStageComponent 继承关系图:

apollo::perception::camera::CameraDetectionMultiStageComponent 的协作图:

Public 成员函数
	CameraDetectionMultiStageComponent ()=default
	~CameraDetectionMultiStageComponent ()=default
bool	Init () override
	Init for amera detection 2d compoment
bool	Proc (const std::shared_ptr< drivers::Image > &msg) override
	Process of camera detection 2d compoment
Public 成员函数 继承自 apollo::cyber::Component< drivers::Image >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< drivers::Image > &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 camera_detection_multi_stage_component.h 第 33 行定义.

构造及析构函数说明

CameraDetectionMultiStageComponent()

apollo::perception::camera::CameraDetectionMultiStageComponent::CameraDetectionMultiStageComponent ( )

default

~CameraDetectionMultiStageComponent()

apollo::perception::camera::CameraDetectionMultiStageComponent::~CameraDetectionMultiStageComponent ( )

default

成员函数说明

Init()

bool apollo::perception::camera::CameraDetectionMultiStageComponent::Init ( )

overridevirtual

Init for amera detection 2d compoment

返回

true

false

实现了 apollo::cyber::ComponentBase.

在文件 camera_detection_multi_stage_component.cc 第 84 行定义.

                                              {
  CameraDetectionMultiStage detection_param;
  if (!GetProtoConfig(&detection_param)) {
    AERROR << "Load camera detection 3d component config failed!";
    return false;
  }
 
  InitObstacleDetector(detection_param);
 
  InitCameraFrame(detection_param);
 
  InitTransformWrapper(detection_param);
 
  writer_ = node_->CreateWriter<onboard::CameraFrame>(
      detection_param.channel().output_obstacles_channel_name());
  return true;
}

Proc()

bool apollo::perception::camera::CameraDetectionMultiStageComponent::Proc ( const std::shared_ptr< drivers::Image > &  msg )

override

Process of camera detection 2d compoment

参数

msg

image msg

返回

true

false

在文件 camera_detection_multi_stage_component.cc 第 102 行定义.

                                                  {
  PERF_FUNCTION()
  std::shared_ptr<onboard::CameraFrame> out_message(new (std::nothrow)
                                                        onboard::CameraFrame);
  bool status = InternalProc(msg, out_message);
  if (status) {
    writer_->Write(out_message);
    AINFO << "Send camera detection 2d output message.";
  }
 
  return status;
}

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该类的文档由以下文件生成:

• modules/perception/camera_detection_multi_stage/camera_detection_multi_stage_component.h
• modules/perception/camera_detection_multi_stage/camera_detection_multi_stage_component.cc