#include <lidar_segmentation_component.h>

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

apollo::perception::lidar::LidarSegmentationComponent 的协作图:

Public 成员函数
	LidarSegmentationComponent ()=default

virtual	~LidarSegmentationComponent ()=default

bool	Init () override
	Init lidar segment component

bool	Proc (const std::shared_ptr< onboard::LidarFrameMessage > &message) override
	Process of lidar segmentation

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

	~Component () override

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

bool	Process (const std::shared_ptr< onboard::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_segmentation_component.h 第 37 行定义.

构造及析构函数说明

◆ LidarSegmentationComponent()

apollo::perception::lidar::LidarSegmentationComponent::LidarSegmentationComponent ( )

default

◆ ~LidarSegmentationComponent()

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

virtualdefault

成员函数说明

◆ Init()

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

overridevirtual

Init lidar segment component

返回: true; false

实现了 apollo::cyber::ComponentBase.

在文件 lidar_segmentation_component.cc 第 26 行定义.

                                      {
    // hook: Apollo License Verification: v_apollo_park
    LidarSegmentationComponentConfig comp_config;
    if (!GetProtoConfig(&comp_config)) {
        AERROR << "Get LidarSegmentationComponentConfig file failed";
        return false;
    }
    AINFO << "LidarSegmentation Component Configs: " << comp_config.DebugString();
 
    output_channel_name_ = comp_config.output_channel_name();
    writer_ = node_->CreateWriter<onboard::LidarFrameMessage>(output_channel_name_);
 
    // segmentor init
    auto plugin_param = comp_config.plugin_param();
    std::string segmentor_name = plugin_param.name();
    BaseLidarDetector* segmentor = BaseLidarDetectorRegisterer::GetInstanceByName(segmentor_name);
    CHECK_NOTNULL(segmentor);
    segmentor_.reset(segmentor);
 
    LidarDetectorInitOptions segmentr_init_options;
    segmentr_init_options.config_path = plugin_param.config_path();
    segmentr_init_options.config_file = plugin_param.config_file();
    ACHECK(segmentor_->Init(segmentr_init_options)) << "lidar segmentor init error";
 
    // semantic builder init
    SemanticBuilderInitOptions semantic_init_options;
    ACHECK(semantic_builder_.Init(semantic_init_options));
 
    AINFO << "LidarSegmentationComponent init successful.";
    return true;
}

◆ Proc()

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

override

Process of lidar segmentation

参数

message lidar frame message

返回: true; false

在文件 lidar_segmentation_component.cc 第 58 行定义.

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

该类的文档由以下文件生成:

modules/perception/lidar_segmentation/lidar_segmentation_component.h
modules/perception/lidar_segmentation/lidar_segmentation_component.cc

Public 成员函数