apollo::perception::camera::CameraLocationRefinementComponent类 参考

#include <camera_location_refinement_component.h>

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

apollo::perception::camera::CameraLocationRefinementComponent 的协作图:

Public 成员函数
bool	Init () override
	Init for camera location refinement component.
bool	Proc (const std::shared_ptr< onboard::CameraFrame > &msg) override
	Process of camera location refinement component.
Public 成员函数 继承自 apollo::cyber::Component< onboard::CameraFrame >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< onboard::CameraFrame > &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_location_refinement_component.h 第 34 行定义.

成员函数说明

Init()

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

overridevirtual

Init for camera location refinement component.

返回

true

false

实现了 apollo::cyber::ComponentBase.

在文件 camera_location_refinement_component.cc 第 92 行定义.

                                             {
  CameraLocationRefinement location_refinement_param;
  if (!GetProtoConfig(&location_refinement_param)) {
    AERROR << "Load camera detection 3d component config failed!";
    return false;
  }
 
  InitPostprocessor(location_refinement_param);
 
  // todo(daohu527): need complete
  // SetCameraHeightAndPitch();
 
  writer_ = node_->CreateWriter<onboard::CameraFrame>(
      location_refinement_param.channel().output_obstacles_channel_name());
  return true;
}

Proc()

bool apollo::perception::camera::CameraLocationRefinementComponent::Proc ( const std::shared_ptr< onboard::CameraFrame > &  msg )

override

Process of camera location refinement component.

参数

msg

image msg

返回

true

false

在文件 camera_location_refinement_component.cc 第 109 行定义.

                                                  {
  PERF_FUNCTION()
  PostprocessorOptions obstacle_postprocessor_options;
  obstacle_postprocessor_options.do_refinement_with_calibration_service =
      calibration_service_ != nullptr;
 
  std::shared_ptr<onboard::CameraFrame> out_message(new (std::nothrow)
                                                        onboard::CameraFrame);
  out_message->frame_id = msg->frame_id;
  out_message->timestamp = msg->timestamp;
  out_message->data_provider = msg->data_provider;
  out_message->detected_objects = msg->detected_objects;
  out_message->feature_blob = msg->feature_blob;
  out_message->camera_k_matrix = msg->camera_k_matrix;
  out_message->camera2world_pose = msg->camera2world_pose;
 
  // calibration_service_->Update(&frame);
 
  PERF_BLOCK("location_refinement_postprocessor")
  if (!postprocessor_->Process(obstacle_postprocessor_options,
                               out_message.get())) {
    AERROR << "Failed to post process obstacles.";
    return false;
  }
  PERF_BLOCK_END
 
  writer_->Write(out_message);
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/camera_location_refinement/camera_location_refinement_component.h
• modules/perception/camera_location_refinement/camera_location_refinement_component.cc