apollo::perception::fusion::SensorDataManager类 参考

#include <sensor_data_manager.h>

apollo::perception::fusion::SensorDataManager 的协作图:

Public 成员函数
bool	Init ()
	Initialization
void	Reset ()
	Reset the data
void	AddSensorMeasurements (const base::FrameConstPtr &frame_ptr)
	Add the data frame, which contains the obstacles detected by the sensor
bool	IsLidar (const base::FrameConstPtr &frame_ptr)
	Is the data frame detected by lidar
bool	IsRadar (const base::FrameConstPtr &frame_ptr)
	Is the data frame detected by radar
bool	IsCamera (const base::FrameConstPtr &frame_ptr)
	Is the data frame detected by camera
void	GetLatestSensorFrames (double timestamp, const std::string &sensor_id, std::vector< SensorFramePtr > *frames) const
	Get the latest sensor frames
void	GetLatestFrames (double timestamp, std::vector< SensorFramePtr > *frames) const
	Get the latest sensor frames
bool	GetPose (const std::string &sensor_id, double timestamp, Eigen::Affine3d *pose) const
	Get the Pose object
base::BaseCameraModelPtr	GetCameraIntrinsic (const std::string &sensor_id) const
	Get the Camera Intrinsic object

详细描述

在文件 sensor_data_manager.h 第 36 行定义.

成员函数说明

AddSensorMeasurements()

void apollo::perception::fusion::SensorDataManager::AddSensorMeasurements

(

const base::FrameConstPtr &

frame_ptr

)

Add the data frame, which contains the obstacles detected by the sensor

参数

frame_ptr

Sensor detection input data frame

在文件 sensor_data_manager.cc 第 45 行定义.

                                        {
  const base::SensorInfo& sensor_info = frame_ptr->sensor_info;
  std::string sensor_id = sensor_info.name;
  const auto it = sensors_.find(sensor_id);
  SensorPtr sensor_ptr = nullptr;
  if (it == sensors_.end()) {
    if (!sensor_manager_->IsSensorExist(sensor_id)) {
      AERROR << "Failed to find sensor " << sensor_id << " in sensor manager.";
      return;
    }
    sensor_ptr.reset(new Sensor(sensor_info));
    sensors_.emplace(sensor_id, sensor_ptr);
  } else {
    sensor_ptr = it->second;
  }
 
  sensor_ptr->AddFrame(frame_ptr);
}

GetCameraIntrinsic()

base::BaseCameraModelPtr apollo::perception::fusion::SensorDataManager::GetCameraIntrinsic

(

const std::string &

sensor_id

)

const

Get the Camera Intrinsic object

参数

sensor_id

返回

base::BaseCameraModelPtr

在文件 sensor_data_manager.cc 第 135 行定义.

                                      {
  return sensor_manager_->GetUndistortCameraModel(sensor_id);
}

GetLatestFrames()

void apollo::perception::fusion::SensorDataManager::GetLatestFrames	(	double	timestamp,
		std::vector< SensorFramePtr > *	frames
	)		const

Get the latest sensor frames

参数

timestamp
frames

在文件 sensor_data_manager.cc 第 94 行定义.

                                                               {
  if (frames == nullptr) {
    AERROR << "Nullptr error.";
    return;
  }
 
  frames->clear();
  for (auto it = sensors_.begin(); it != sensors_.end(); ++it) {
    SensorFramePtr frame = it->second->QueryLatestFrame(timestamp);
    if (frame != nullptr) {
      frames->push_back(frame);
    }
  }
 
  if (frames->empty()) {
    return;
  }
 
  std::sort(frames->begin(), frames->end(),
            [](const SensorFramePtr& p1, const SensorFramePtr& p2) {
              return p1->GetTimestamp() < p2->GetTimestamp();
            });
}

GetLatestSensorFrames()

void apollo::perception::fusion::SensorDataManager::GetLatestSensorFrames	(	double	timestamp,
		const std::string &	sensor_id,
		std::vector< SensorFramePtr > *	frames
	)		const

Get the latest sensor frames

参数

timestamp
sensor_id
frames

在文件 sensor_data_manager.cc 第 80 行定义.

                                             {
  if (frames == nullptr) {
    AERROR << "Nullptr error.";
    return;
  }
  const auto it = sensors_.find(sensor_id);
  if (it == sensors_.end()) {
    return;
  }
  return it->second->QueryLatestFrames(timestamp, frames);
}

GetPose()

bool apollo::perception::fusion::SensorDataManager::GetPose	(	const std::string &	sensor_id,
		double	timestamp,
		Eigen::Affine3d *	pose
	)		const

Get the Pose object

参数

sensor_id
timestamp
pose

返回

true

false

在文件 sensor_data_manager.cc 第 119 行定义.

                                                           {
  if (pose == nullptr) {
    AERROR << "Nullptr error.";
    return false;
  }
 
  const auto it = sensors_.find(sensor_id);
  if (it == sensors_.end()) {
    AERROR << "Failed to find sensor " << sensor_id << " for get pose.";
    return false;
  }
 
  return it->second->GetPose(timestamp, pose);
}

Init()

bool apollo::perception::fusion::SensorDataManager::Init

(

)

Initialization

返回

true

false

在文件 sensor_data_manager.cc 第 30 行定义.

                             {
  if (inited_) {
    return true;
  }
  sensor_manager_ = algorithm::SensorManager::Instance();
  inited_ = true;
  return true;
}

IsCamera()

bool apollo::perception::fusion::SensorDataManager::IsCamera

(

const base::FrameConstPtr &

frame_ptr

)

Is the data frame detected by camera

参数

frame_ptr

返回

true detected by camera

false not detected by camera

在文件 sensor_data_manager.cc 第 75 行定义.

                                                                   {
  base::SensorType type = frame_ptr->sensor_info.type;
  return sensor_manager_->IsCamera(type);
}

IsLidar()

bool apollo::perception::fusion::SensorDataManager::IsLidar

(

const base::FrameConstPtr &

frame_ptr

)

Is the data frame detected by lidar

参数

frame_ptr

返回

true detected by lidar

false not detected by lidar

在文件 sensor_data_manager.cc 第 65 行定义.

                                                                  {
  base::SensorType type = frame_ptr->sensor_info.type;
  return sensor_manager_->IsLidar(type);
}

IsRadar()

bool apollo::perception::fusion::SensorDataManager::IsRadar

(

const base::FrameConstPtr &

frame_ptr

)

Is the data frame detected by radar

参数

frame_ptr

返回

true detected by radar

false not detected by radar

在文件 sensor_data_manager.cc 第 70 行定义.

                                                                  {
  base::SensorType type = frame_ptr->sensor_info.type;
  return sensor_manager_->IsRadar(type);
}

Reset()

void apollo::perception::fusion::SensorDataManager::Reset

(

)

Reset the data

在文件 sensor_data_manager.cc 第 39 行定义.

                              {
  inited_ = false;
  sensor_manager_ = nullptr;
  sensors_.clear();
}

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/base/sensor_data_manager.h
• modules/perception/multi_sensor_fusion/base/sensor_data_manager.cc