apollo::perception::fusion::MultiSensorFusionComponent类 参考

#include <multi_sensor_fusion_component.h>

类 apollo::perception::fusion::MultiSensorFusionComponent 继承关系图:

apollo::perception::fusion::MultiSensorFusionComponent 的协作图:

Public 成员函数
	MultiSensorFusionComponent ()=default
	~MultiSensorFusionComponent ()=default
bool	Init () override
bool	Proc (const std::shared_ptr< SensorFrameMessage > &message) override
Public 成员函数 继承自 apollo::cyber::Component< SensorFrameMessage >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< SensorFrameMessage > &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 multi_sensor_fusion_component.h 第 36 行定义.

构造及析构函数说明

MultiSensorFusionComponent()

apollo::perception::fusion::MultiSensorFusionComponent::MultiSensorFusionComponent ( )

default

~MultiSensorFusionComponent()

apollo::perception::fusion::MultiSensorFusionComponent::~MultiSensorFusionComponent ( )

default

成员函数说明

Init()

bool apollo::perception::fusion::MultiSensorFusionComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 multi_sensor_fusion_component.cc 第 32 行定义.

                                      {
  FusionComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    return false;
  }
  AINFO << "Fusion Component Configs: " << comp_config.DebugString();
 
  // to load component configs
  object_in_roi_check_ = comp_config.object_in_roi_check();
  radius_for_roi_object_check_ = comp_config.radius_for_roi_object_check();
 
  // init algorithm plugin
  ACHECK(InitAlgorithmPlugin(comp_config))
      << "Failed to init algorithm plugin.";
 
  writer_ = node_->CreateWriter<PerceptionObstacles>(
      comp_config.output_obstacles_channel_name());
  inner_writer_ = node_->CreateWriter<SensorFrameMessage>(
      comp_config.output_viz_fused_content_channel_name());
 
  algorithm::SensorManager::Instance()->Init();
  return true;
}

Proc()

bool apollo::perception::fusion::MultiSensorFusionComponent::Proc ( const std::shared_ptr< SensorFrameMessage > &  message )

override

在文件 multi_sensor_fusion_component.cc 第 56 行定义.

                                                      {
  PERF_FUNCTION()
  if (message->process_stage_ == onboard::ProcessStage::SENSOR_FUSION) {
    return true;
  }
  std::shared_ptr<PerceptionObstacles> out_message(new (std::nothrow)
                                                       PerceptionObstacles);
  std::shared_ptr<SensorFrameMessage> viz_message(new (std::nothrow)
                                                      SensorFrameMessage);
  bool status = InternalProc(message, out_message, viz_message);
  if (status) {
    // TODO(conver sensor id)
    bool is_main_sensor =
        algorithm::SensorManager::Instance()->IsMainSensor(message->sensor_id_);
    if (is_main_sensor) {
      writer_->Write(out_message);
      AINFO << "Send fusion processing output message.";
      // send msg for visualization
      if (onboard::FLAGS_obs_enable_visualization) {
        inner_writer_->Write(viz_message);
      }
    } else {
      AINFO << "Fusion receive from " << message->sensor_id_
            << ". Skip because it is not the main sensor.";
    }
  }
  return status;
}

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/multi_sensor_fusion_component.h
• modules/perception/multi_sensor_fusion/multi_sensor_fusion_component.cc