#include <lidar_detection_component.h>

类 apollo::perception::lidar::LidarDetectionComponent 继承关系图:

apollo::perception::lidar::LidarDetectionComponent 的协作图:

Public 成员函数
	LidarDetectionComponent ()=default
	Construct a new Lidar Detection Component object

virtual	~LidarDetectionComponent ()=default
	Destroy the Lidar Detection Component object

bool	Init () override
	Init the Lidar Detection Component object

bool	Proc (const std::shared_ptr< LidarFrameMessage > &message) override
	Detect foreground obejcts using lidar detction models

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

	~Component () override

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

bool	Process (const std::shared_ptr< LidarFrameMessage > &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 lidar_detection_component.h 第 35 行定义.

构造及析构函数说明

◆ LidarDetectionComponent()

apollo::perception::lidar::LidarDetectionComponent::LidarDetectionComponent ( )

default

Construct a new Lidar Detection Component object

◆ ~LidarDetectionComponent()

virtual apollo::perception::lidar::LidarDetectionComponent::~LidarDetectionComponent ( )

virtualdefault

Destroy the Lidar Detection Component object

成员函数说明

◆ Init()

bool apollo::perception::lidar::LidarDetectionComponent::Init ( )

overridevirtual

Init the Lidar Detection Component object

返回: true; false

实现了 apollo::cyber::ComponentBase.

在文件 lidar_detection_component.cc 第 26 行定义.

                                   {
  LidarDetectionComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    AERROR << "Get LidarDetectionComponentConfig file failed";
    return false;
  }
  AINFO << "Lidar Detection Component Configs: " << comp_config.DebugString();
 
  sensor_name_ = comp_config.sensor_name();
  // writer
  output_channel_name_ = comp_config.output_channel_name();
  writer_ =
      node_->CreateWriter<onboard::LidarFrameMessage>(output_channel_name_);
 
  use_object_builder_ = comp_config.use_object_builder();
 
  // detector init
  auto plugin_param = comp_config.plugin_param();
  std::string detector_name = plugin_param.name();
  BaseLidarDetector* detector =
      BaseLidarDetectorRegisterer::GetInstanceByName(detector_name);
  CHECK_NOTNULL(detector);
  detector_.reset(detector);
 
  LidarDetectorInitOptions detection_init_options;
  detection_init_options.sensor_name = sensor_name_;
  detection_init_options.config_path = plugin_param.config_path();
  detection_init_options.config_file = plugin_param.config_file();
  ACHECK(detector_->Init(detection_init_options))
      << "lidar detector init error";
 
  // TODO(zero): Fix paddle doesn't output log to file
  FLAGS_logtostderr = 0;
 
  // object builder init
  if (use_object_builder_) {
    ObjectBuilderInitOptions builder_init_options;
    ACHECK(builder_.Init(builder_init_options));
  }
 
  AINFO << "Successfully init lidar detection component.";
  return true;
}

◆ Proc()

bool apollo::perception::lidar::LidarDetectionComponent::Proc ( const std::shared_ptr< LidarFrameMessage > & message )

override

Detect foreground obejcts using lidar detction models

参数

message lidar frame mssage

返回: true; false

在文件 lidar_detection_component.cc 第 70 行定义.

                                                     {
  PERF_FUNCTION()
  // internal proc
  bool status = InternalProc(message);
  if (status) {
    writer_->Write(message);
    AINFO << "Send Lidar detection output message.";
  }
  return status;
}

该类的文档由以下文件生成:

modules/perception/lidar_detection/lidar_detection_component.h
modules/perception/lidar_detection/lidar_detection_component.cc

Public 成员函数