apollo::perception::camera::CameraDetectionOccComponent类 参考

#include <camera_detection_occupancy_component.h>

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

apollo::perception::camera::CameraDetectionOccComponent 的协作图:

Public 类型
using	PerceptionObstacle = apollo::perception::PerceptionObstacle
using	PerceptionObstacles = apollo::perception::PerceptionObstacles
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Public 成员函数
	CameraDetectionOccComponent ()
bool	Init () override
	Init for camera detection 2d compoment
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &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
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_occupancy_component.h 第 38 行定义.

成员类型定义说明

PerceptionObstacle

using apollo::perception::camera::CameraDetectionOccComponent::PerceptionObstacle = apollo::perception::PerceptionObstacle

在文件 camera_detection_occupancy_component.h 第 40 行定义.

PerceptionObstacles

using apollo::perception::camera::CameraDetectionOccComponent::PerceptionObstacles = apollo::perception::PerceptionObstacles

在文件 camera_detection_occupancy_component.h 第 41 行定义.

构造及析构函数说明

CameraDetectionOccComponent()

apollo::perception::camera::CameraDetectionOccComponent::CameraDetectionOccComponent ( )

inline

在文件 camera_detection_occupancy_component.h 第 44 行定义.

: timestamp_offset_(0) {}

成员函数说明

Init()

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

overridevirtual

Init for camera detection 2d compoment

返回

true

false

实现了 apollo::cyber::ComponentBase.

在文件 camera_detection_occupancy_component.cc 第 259 行定义.

                                       {
  CameraDetectionBEV detection_param;
  if (!GetProtoConfig(&detection_param)) {
    AERROR << "Load camera detection 3d component config failed!";
    return false;
  }
 
  // Init tracker
  auto tracker_plugin_param = detection_param.tracker_plugin_param();
  BaseTracker *tracker =
      BaseTrackerRegisterer::GetInstanceByName(tracker_plugin_param.name());
  CHECK_NOTNULL(tracker);
  tracker_.reset(tracker);
 
  TrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = tracker_plugin_param.config_path();
  tracker_init_options.config_file = tracker_plugin_param.config_file();
  ACHECK(tracker_->Init(tracker_init_options)) << "camera tracker init error";
 
  // segmentor init
  // auto segmentor_plugin_param = detection_param.segmentor_plugin_param();
  // BaseSegmentor *segmentor =
  //     BaseSegmentorRegisterer::GetInstanceByName(segmentor_plugin_param.name());
  // CHECK_NOTNULL(segmentor);
  // segmentor_.reset(segmentor);
 
  // SegmentorInitOptions segmentr_init_options;
  // segmentr_init_options.config_path = segmentor_plugin_param.config_path();
  // segmentr_init_options.config_file = segmentor_plugin_param.config_file();
  // ACHECK(segmentor_->Init(segmentr_init_options))
  //     << "lidar segmentor init error";
 
  // todo(zero): need init image_height_\image_width_
  InitDetector(detection_param);
  InitCameraFrame(detection_param);
  InitListeners(detection_param);
  InitTransformWrapper(detection_param);
 
  writer_ = node_->CreateWriter<PerceptionObstacles>(
      detection_param.channel().output_obstacles_channel_name());
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/camera_detection_occupancy/camera_detection_occupancy_component.h
• modules/perception/camera_detection_occupancy/camera_detection_occupancy_component.cc