#include <camera_tracking_component.h>

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

apollo::perception::camera::CameraTrackingComponent 的协作图:

Public 成员函数
	CameraTrackingComponent ()=default

	~CameraTrackingComponent ()=default

bool	Init () override

bool	Proc (const std::shared_ptr< onboard::CameraFrame > &message) override

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_tracking_component.h 第 34 行定义.

构造及析构函数说明

◆ CameraTrackingComponent()

apollo::perception::camera::CameraTrackingComponent::CameraTrackingComponent ( )

default

◆ ~CameraTrackingComponent()

apollo::perception::camera::CameraTrackingComponent::~CameraTrackingComponent ( )

default

成员函数说明

◆ Init()

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

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 camera_tracking_component.cc 第 31 行定义.

                                   {
  CameraTrackingComponentConfig camera_tracking_component_config;
  if (!GetProtoConfig(&camera_tracking_component_config)) {
    return false;
  }
  AINFO << "Camera Tracking Component config: "
        << camera_tracking_component_config.DebugString();
  output_channel_name_ = camera_tracking_component_config.output_channel_name();
  writer_ =
      node_->CreateWriter<onboard::SensorFrameMessage>(output_channel_name_);
 
  sensor_manager_ = algorithm::SensorManager::Instance();
 
  PluginParam plugin_param = camera_tracking_component_config.plugin_param();
  std::string tracker_name = plugin_param.name();
  camera_obstacle_tracker_.reset(
      BaseObstacleTrackerRegisterer::GetInstanceByName(tracker_name));
  if (nullptr == camera_obstacle_tracker_) {
    AERROR << "Failed to get camera obstacle tracker instance.";
    return false;
  }
 
  ObstacleTrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = plugin_param.config_path();
  tracker_init_options.config_file = plugin_param.config_file();
  tracker_init_options.image_width =
      camera_tracking_component_config.image_width();
  tracker_init_options.image_height =
      camera_tracking_component_config.image_height();
  tracker_init_options.gpu_id = camera_tracking_component_config.gpu_id();
  if (!camera_obstacle_tracker_->Init(tracker_init_options)) {
    AERROR << "Failed to init camera obstacle tracker.";
    return false;
  }
  return true;
}

◆ Proc()

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

override

在文件 camera_tracking_component.cc 第 68 行定义.

                                                      {
  PERF_FUNCTION()
  AINFO << std::setprecision(16)
        << "Enter Tracking component, message timestamp: " << message->timestamp
        << " current timestamp: " << Clock::NowInSeconds();
 
  auto out_message = std::make_shared<onboard::SensorFrameMessage>();
  bool status = InternalProc(message, out_message);
 
  if (status) {
    writer_->Write(out_message);
    AINFO << "Send camera tracking output message.";
  }
  return status;
}

该类的文档由以下文件生成:

modules/perception/camera_tracking/camera_tracking_component.h
modules/perception/camera_tracking/camera_tracking_component.cc

Public 成员函数