#include <pointcloud_preprocess_component.h>

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

apollo::perception::lidar::PointCloudPreprocessComponent 的协作图:

Public 成员函数
	PointCloudPreprocessComponent ()=default

virtual	~PointCloudPreprocessComponent ()=default

bool	Init () override
	Init pointcloud preprocess component

bool	Proc (const std::shared_ptr< drivers::PointCloud > &message) override
	Process of pointcloud preprocess

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

	~Component () override

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

bool	Process (const std::shared_ptr< drivers::PointCloud > &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_preprocess_component.h 第 36 行定义.

构造及析构函数说明

◆ PointCloudPreprocessComponent()

apollo::perception::lidar::PointCloudPreprocessComponent::PointCloudPreprocessComponent ( )

default

◆ ~PointCloudPreprocessComponent()

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

virtualdefault

成员函数说明

◆ Init()

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

overridevirtual

Init pointcloud preprocess component

返回: true; false

实现了 apollo::cyber::ComponentBase.

在文件 pointcloud_preprocess_component.cc 第 33 行定义.

                                         {
  PointCloudPreprocessComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    AERROR << "Get PointCloudPreprocessComponentConfig file failed";
    return false;
  }
  AINFO << "PointCloud Preprocess Component Configs: "
        << comp_config.DebugString();
 
  output_channel_name_ = comp_config.output_channel_name();
  sensor_name_ = comp_config.sensor_name();
  // Use sensor_name as lidar to novatel child_frame_id. If not equal
  // we can use `sensor_info_` to get child_frame_id
  lidar2novatel_tf2_child_frame_id_ = comp_config.sensor_name();
  lidar_query_tf_offset_ =
      static_cast<float>(comp_config.lidar_query_tf_offset());
 
  auto plugin_param = comp_config.plugin_param();
  std::string cloud_preprocessor_name = plugin_param.name();
  config_path_ = plugin_param.config_path();
  config_file_ = plugin_param.config_file();
  cloud_preprocessor_ = BasePointCloudPreprocessorRegisterer::GetInstanceByName(
      cloud_preprocessor_name);
  CHECK_NOTNULL(cloud_preprocessor_);
  // writer
  writer_ =
      node_->CreateWriter<onboard::LidarFrameMessage>(output_channel_name_);
 
  if (!InitAlgorithmPlugin()) {
    AERROR << "Failed to init pointcloud preprocess component plugin.";
    return false;
  }
 
  return true;
}

◆ Proc()

bool apollo::perception::lidar::PointCloudPreprocessComponent::Proc ( const std::shared_ptr< drivers::PointCloud > & message )

override

Process of pointcloud preprocess

参数

message Pointcloud message from driver

返回: true; false

在文件 pointcloud_preprocess_component.cc 第 69 行定义.

                                                     {
  PERF_FUNCTION()
  AINFO << std::setprecision(16)
        << "Enter pointcloud preprocess component, message timestamp: "
        << message->measurement_time()
        << " current timestamp: " << Clock::NowInSeconds();
 
  auto out_message = std::make_shared<onboard::LidarFrameMessage>();
 
  bool status = InternalProc(message, out_message);
  if (status) {
    writer_->Write(out_message);
    AINFO << "Send pointcloud preprocess output message.";
  }
 
  return status;
}

该类的文档由以下文件生成:

modules/perception/pointcloud_preprocess/pointcloud_preprocess_component.h
modules/perception/pointcloud_preprocess/pointcloud_preprocess_component.cc

Public 成员函数