apollo::perception::lidar::PointCloudMapROIComponent类 参考

#include <pointcloud_map_based_roi_component.h>

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

apollo::perception::lidar::PointCloudMapROIComponent 的协作图:

Public 成员函数
	PointCloudMapROIComponent ()=default
	Construct a new Point Cloud Map ROI Component object
virtual	~PointCloudMapROIComponent ()=default
	Destroy the Point Cloud Map ROI Component object
bool	Init () override
	Init of Point Cloud Map ROI Component object
bool	Proc (const std::shared_ptr< LidarFrameMessage > &message) override
	Process of Point Cloud Map ROI Component object
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 pointcloud_map_based_roi_component.h 第 38 行定义.

构造及析构函数说明

PointCloudMapROIComponent()

apollo::perception::lidar::PointCloudMapROIComponent::PointCloudMapROIComponent ( )

default

Construct a new Point Cloud Map ROI Component object

~PointCloudMapROIComponent()

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

virtualdefault

Destroy the Point Cloud Map ROI Component object

成员函数说明

Init()

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

overridevirtual

Init of Point Cloud Map ROI Component object

返回

true

false

实现了 apollo::cyber::ComponentBase.

在文件 pointcloud_map_based_roi_component.cc 第 26 行定义.

                                     {
  PointCloudMapROIComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    AERROR << "Get PointCloudMapROIComponentConfig file failed";
    return false;
  }
  AINFO << "PointCloud map based roi Component Configs: "
        << comp_config.DebugString();
  // writer
  output_channel_name_ = comp_config.output_channel_name();
  writer_ = node_->CreateWriter<LidarFrameMessage>(output_channel_name_);
 
  // Scene manager
  ACHECK(SceneManager::Instance().Init());
 
  // map manager init
  use_map_manager_ =
      comp_config.use_map_manager() && comp_config.enable_hdmap();
  if (use_map_manager_) {
    MapManagerInitOptions map_manager_init_options;
    map_manager_init_options.config_path =
      comp_config.map_manager_config_path();
    map_manager_init_options.config_file =
      comp_config.map_manager_config_file();
    if (!map_manager_.Init(map_manager_init_options)) {
      AINFO << "Failed to init map manager.";
      use_map_manager_ = false;
    }
  }
 
  // init roi filter
  auto& plugin = comp_config.plugin_param();
  roi_filter_ = apollo::cyber::plugin_manager::PluginManager::Instance()
                    ->CreateInstance<BaseROIFilter>(
                        ConfigUtil::GetFullClassName(plugin.name()));
 
  CHECK_NOTNULL(roi_filter_);
  ROIFilterInitOptions roi_filter_init_options;
  roi_filter_init_options.config_path = plugin.config_path();
  roi_filter_init_options.config_file = plugin.config_file();
  ACHECK(roi_filter_->Init(roi_filter_init_options))
      << "Failed to init roi filter.";
 
  return true;
}

Proc()

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

override

Process of Point Cloud Map ROI Component object

参数

message

lidar frame message

返回

true

false

在文件 pointcloud_map_based_roi_component.cc 第 72 行定义.

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

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该类的文档由以下文件生成:

• modules/perception/pointcloud_map_based_roi/pointcloud_map_based_roi_component.h
• modules/perception/pointcloud_map_based_roi/pointcloud_map_based_roi_component.cc