#include <lane_detection_component.h>

类 apollo::perception::onboard::LaneDetectionComponent 继承关系图:

apollo::perception::onboard::LaneDetectionComponent 的协作图:

Public 类型
template<class EigenType >
using	EigenVector = apollo::common::EigenVector< EigenType >

template<typename T , class EigenType >
using	EigenMap = apollo::common::EigenMap< T, EigenType >

using	MotionServiceMsgType = std::shared_ptr< apollo::perception::MotionService >

Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Public 成员函数
	LaneDetectionComponent ()

	~LaneDetectionComponent ()

	LaneDetectionComponent (const LaneDetectionComponent &)=delete

LaneDetectionComponent &	operator= (const LaneDetectionComponent &)=delete

bool	Init () override

Public 成员函数继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()

	~Component () override

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

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &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

友元
template<typename T >
class	FunctionInfo

额外继承的成员函数
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 lane_detection_component.h 第 54 行定义.

成员类型定义说明

◆ EigenMap

template<typename T , class EigenType >

using apollo::perception::onboard::LaneDetectionComponent::EigenMap = apollo::common::EigenMap<T, EigenType>

在文件 lane_detection_component.h 第 60 行定义.

◆ EigenVector

template<class EigenType >

using apollo::perception::onboard::LaneDetectionComponent::EigenVector = apollo::common::EigenVector<EigenType>

在文件 lane_detection_component.h 第 57 行定义.

◆ MotionServiceMsgType

using apollo::perception::onboard::LaneDetectionComponent::MotionServiceMsgType = std::shared_ptr<apollo::perception::MotionService>

在文件 lane_detection_component.h 第 62 行定义.

构造及析构函数说明

◆ LaneDetectionComponent() [1/2]

apollo::perception::onboard::LaneDetectionComponent::LaneDetectionComponent ( )

inline

在文件 lane_detection_component.h 第 66 行定义.

66: seq_num_(0) {}

◆ ~LaneDetectionComponent()

apollo::perception::onboard::LaneDetectionComponent::~LaneDetectionComponent ( )

在文件 lane_detection_component.cc 第 184 行定义.

184{}

◆ LaneDetectionComponent() [2/2]

apollo::perception::onboard::LaneDetectionComponent::LaneDetectionComponent ( const LaneDetectionComponent & )

delete

成员函数说明

◆ Init()

bool apollo::perception::onboard::LaneDetectionComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 lane_detection_component.cc 第 186 行定义.

                                  {
  if (InitConfig() != cyber::SUCC) {
    AERROR << "InitConfig() failed.";
    return false;
  }
 
  writer_ = node_->CreateWriter<PerceptionLanes>(output_lanes_channel_name_);
  if (!EXEC_ALL_FUNS(LaneDetectionComponent, this,
                     LaneDetectionComponent::init_func_arry_)) {
    return false;
  }
  SetCameraHeightAndPitch();
 
  // Init visualizer
  // TODO(techoe, yg13): homography from image to ground should be
  // computed from camera height and pitch.
  // Apply online calibration to adjust pitch/height automatically
  // Temporary code is used here for testing
  double pitch_adj_degree = 0.0;
  double yaw_adj_degree = 0.0;
  double roll_adj_degree = 0.0;
  // load in lidar to imu extrinsic
  Eigen::Matrix4d ex_lidar2imu;
  // Todo(zero): need fix! use tf
  LoadExtrinsics(FLAGS_obs_sensor_intrinsic_path + "/" +
                     FLAGS_lidar_sensor_name + "_novatel_extrinsics.yaml",
                 &ex_lidar2imu);
  AINFO << FLAGS_lidar_sensor_name + "_novatel_extrinsics.yaml: "
        << ex_lidar2imu;
 
  ACHECK(visualize_.Init_all_info_single_camera(
      camera_names_, visual_camera_, intrinsic_map_, extrinsic_map_,
      ex_lidar2imu, pitch_adj_degree, yaw_adj_degree, roll_adj_degree,
      image_height_, image_width_));
  homography_image2ground_ = visualize_.homography_im2car(visual_camera_);
  camera_lane_pipeline_->SetIm2CarHomography(homography_image2ground_);
 
  if (enable_visualization_) {
    if (write_visual_img_) {
      visualize_.write_out_img_ = true;
      visualize_.SetDirectory(visual_debug_folder_);
    }
  }
  AINFO << "Init processes all succeed";
  return true;
}

◆ operator=()

LaneDetectionComponent & apollo::perception::onboard::LaneDetectionComponent::operator= ( const LaneDetectionComponent & )

delete

友元及相关函数文档

◆ FunctionInfo

template<typename T >

friend class FunctionInfo

friend

在文件 lane_detection_component.h 第 75 行定义.

该类的文档由以下文件生成:

modules/perception/lane_detection/lane_detection_component.h
modules/perception/lane_detection/lane_detection_component.cc

Public 类型

Public 成员函数

友元

额外继承的成员函数