#include <pointcloud_semantic_component.h>

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

apollo::perception::lidar::PointCloudSemanticComponent 的协作图:

Public 成员函数
	PointCloudSemanticComponent ()

virtual	~PointCloudSemanticComponent ()

bool	Init () override
	Init pointcloud semantic component

bool	Proc (const std::shared_ptr< LidarFrameMessage > &message) override
	Process of pointcloud semantic component

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_semantic_component.h 第 35 行定义.

构造及析构函数说明

◆ PointCloudSemanticComponent()

apollo::perception::lidar::PointCloudSemanticComponent::PointCloudSemanticComponent ( )

inline

在文件 pointcloud_semantic_component.h 第 37 行定义.

37{}

◆ ~PointCloudSemanticComponent()

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

inlinevirtual

在文件 pointcloud_semantic_component.h 第 38 行定义.

38{}

成员函数说明

◆ Init()

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

overridevirtual

Init pointcloud semantic component

返回: true; false

实现了 apollo::cyber::ComponentBase.

在文件 pointcloud_semantic_component.cc 第 25 行定义.

                                       {
    PointCloudSemanticComponentConfig comp_config;
    if (!GetProtoConfig(&comp_config)) {
        AERROR << "Get PointCloudSemanticComponentConfig file failed";
        return false;
    }
    AINFO << "PointCloud semantic Component Configs: " << comp_config.DebugString();
 
    // writer
    output_channel_name_ = comp_config.output_channel_name();
    writer_ = node_->CreateWriter<LidarFrameMessage>(output_channel_name_);
 
    // init parser
    auto plugin_param = comp_config.plugin_param();
    std::string parser_name = plugin_param.name();
    BasePointCloudParser* parser = BasePointCloudParserRegisterer::GetInstanceByName(parser_name);
    CHECK_NOTNULL(parser);
    parser_.reset(parser);
    PointCloudParserInitOptions init_options;
    init_options.config_path = plugin_param.config_path();
    init_options.config_file = plugin_param.config_file();
    ACHECK(parser_->Init(init_options)) << "PointCloud parser init error";
 
    AINFO << "Successfully init pointcloud parser component.";
    return true;
}

◆ Proc()

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

override

Process of pointcloud semantic component

参数

message lidar frame message

返回: true; false

在文件 pointcloud_semantic_component.cc 第 52 行定义.

                                                                                      {
    PERF_FUNCTION()
    // internal proc
    bool status = InternalProc(message);
 
    if (status) {
        writer_->Write(message);
        AINFO << "Send PointCloud Semantic message.";
    } else {
        AERROR << "PointCloudSemanticComponent InternalProc error.";
    }
    return status;
}

该类的文档由以下文件生成:

modules/perception/pointcloud_semantics/pointcloud_semantic_component.h
modules/perception/pointcloud_semantics/pointcloud_semantic_component.cc

Public 成员函数