apollo::perception::onboard::MsgSerializer类 参考

#include <msg_serializer.h>

apollo::perception::onboard::MsgSerializer 的协作图:

Public 成员函数
	MsgSerializer ()=default
	~MsgSerializer ()=default

静态 Public 成员函数
static bool	SerializeMsg (double timestamp, uint64_t lidar_timestamp, int seq_num, const std::vector< base::ObjectPtr > &objects, const apollo::common::ErrorCode &error_code, PerceptionObstacles *obstacles)
static bool	SerializeBenchmarkMsg (double timestamp, uint64_t lidar_timestamp, int seq_num, const std::vector< base::ObjectPtr > &objects, PerceptionBenchmarkFrame *obstacles)
static bool	SerializeLidarFrameMsg (double timestamp, uint64_t lidar_timestamp, int seq_num, const Eigen::Affine3d &pose, const std::vector< base::ObjectPtr > &objects, PerceptionBenchmarkFrame *obstacles, bool use_lidar_cooridinate=true)

详细描述

在文件 msg_serializer.h 第 28 行定义.

构造及析构函数说明

MsgSerializer()

apollo::perception::onboard::MsgSerializer::MsgSerializer ( )

default

~MsgSerializer()

apollo::perception::onboard::MsgSerializer::~MsgSerializer ( )

default

成员函数说明

SerializeBenchmarkMsg()

bool apollo::perception::onboard::MsgSerializer::SerializeBenchmarkMsg ( double  timestamp, uint64_t  lidar_timestamp, int  seq_num, const std::vector< base::ObjectPtr > &  objects, PerceptionBenchmarkFrame *  obstacles  )

static

在文件 msg_serializer.cc 第 61 行定义.

                                               {
  // double publish_time = Clock::NowInSeconds();
  ::apollo::common::Header *header = benchmark_frame->mutable_header();
  header->set_timestamp_sec(timestamp);
  header->set_module_name("perception_benchmark");
  header->set_sequence_num(seq_num);
  header->set_lidar_timestamp(lidar_timestamp);
  header->set_camera_timestamp(0);
  header->set_radar_timestamp(0);
 
  for (const auto &obj : objects) {
    PerceptionObstacle *obstacle = benchmark_frame->add_perception_obstacle();
    if (!ConvertObjectToPb(obj, obstacle)) {
      AERROR << "ConvertObjectToPb failed, Object:" << obj->ToString();
      return false;
    }
  }
  return true;
}

SerializeLidarFrameMsg()

bool apollo::perception::onboard::MsgSerializer::SerializeLidarFrameMsg ( double  timestamp, uint64_t  lidar_timestamp, int  seq_num, const Eigen::Affine3d &  pose, const std::vector< base::ObjectPtr > &  objects, PerceptionBenchmarkFrame *  obstacles, bool  use_lidar_cooridinate = true  )

static

在文件 msg_serializer.cc 第 85 行定义.

                                                                     {
    ::apollo::common::Header *header = obstacles->mutable_header();
    header->set_timestamp_sec(timestamp);
    header->set_module_name("perception_LidarFrame_benchmark");
    header->set_sequence_num(seq_num);
    header->set_lidar_timestamp(lidar_timestamp);
    header->set_camera_timestamp(0);
    header->set_radar_timestamp(0);
 
    for (const auto &obj : objects) {
        PerceptionObstacle *obstacle = obstacles->add_perception_obstacle();
        if (!ConvertSegmentedObjectToPb(obj, obstacle,
              pose, use_lidar_cooridinate)) {
            AERROR << "ConvertSegmentedObjectToPb failed, Object:"
                   << obj->ToString();
            return false;
        }
    }
    return true;
}

SerializeMsg()

bool apollo::perception::onboard::MsgSerializer::SerializeMsg ( double  timestamp, uint64_t  lidar_timestamp, int  seq_num, const std::vector< base::ObjectPtr > &  objects, const apollo::common::ErrorCode &  error_code, PerceptionObstacles *  obstacles  )

static

在文件 msg_serializer.cc 第 36 行定义.

                                                                 {
  double publish_time = Clock::NowInSeconds();
  ::apollo::common::Header *header = obstacles->mutable_header();
  header->set_timestamp_sec(publish_time);
  header->set_module_name("perception_obstacle");
  header->set_sequence_num(seq_num);
  header->set_lidar_timestamp(lidar_timestamp);
  header->set_camera_timestamp(0);
  header->set_radar_timestamp(0);
 
  obstacles->set_error_code(error_code);
  for (const auto &obj : objects) {
    PerceptionObstacle *obstacle = obstacles->add_perception_obstacle();
    if (!ConvertObjectToPb(obj, obstacle)) {
      AERROR << "ConvertObjectToPb failed, Object:" << obj->ToString();
      return false;
    }
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/common/onboard/msg_serializer/msg_serializer.h
• modules/perception/common/onboard/msg_serializer/msg_serializer.cc