#include <camera_detection_single_stage_component.h>

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

apollo::perception::camera::CameraDetectionSingleStageComponent 的协作图:

Public 成员函数
	CameraDetectionSingleStageComponent ()

	~CameraDetectionSingleStageComponent ()=default

bool	Init () override
	Init for amera detection 3d compoment

bool	Proc (const std::shared_ptr< apollo::drivers::Image > &msg) override
	Process of camera detection 2d compoment

Public 成员函数继承自 apollo::cyber::Component< apollo::drivers::Image >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< apollo::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_single_stage_component.h 第 33 行定义.

构造及析构函数说明

◆ CameraDetectionSingleStageComponent()

apollo::perception::camera::CameraDetectionSingleStageComponent::CameraDetectionSingleStageComponent ( )

inline

在文件 camera_detection_single_stage_component.h 第 36 行定义.

36: timestamp_offset_(0) {}

◆ ~CameraDetectionSingleStageComponent()

apollo::perception::camera::CameraDetectionSingleStageComponent::~CameraDetectionSingleStageComponent ( )

default

成员函数说明

◆ Init()

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

overridevirtual

Init for amera detection 3d compoment

返回: true; false

实现了 apollo::cyber::ComponentBase.

在文件 camera_detection_single_stage_component.cc 第 92 行定义.

                                               {
  CameraDetectionSingleStage 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::CameraDetectionSingleStageComponent::Proc ( const std::shared_ptr< apollo::drivers::Image > & msg )

override

Process of camera detection 2d compoment

参数

msg image msg

返回: true; false

在文件 camera_detection_single_stage_component.cc 第 137 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 3d output message.";
  }
 
  return status;
}

该类的文档由以下文件生成:

modules/perception/camera_detection_single_stage/camera_detection_single_stage_component.h
modules/perception/camera_detection_single_stage/camera_detection_single_stage_component.cc

Public 成员函数