apollo::third_party_perception::ThirdPartyPerceptionMobileye类 参考

#include <third_party_perception_mobileye.h>

类 apollo::third_party_perception::ThirdPartyPerceptionMobileye 继承关系图:

apollo::third_party_perception::ThirdPartyPerceptionMobileye 的协作图:

Public 成员函数
	ThirdPartyPerceptionMobileye (apollo::cyber::Node *const node)
	ThirdPartyPerceptionMobileye ()=default
	~ThirdPartyPerceptionMobileye ()=default
void	OnMobileye (const apollo::drivers::Mobileye &message)
void	OnContiRadar (const apollo::drivers::ContiRadar &message)
void	OnDelphiESR (const apollo::drivers::DelphiESR &message)
bool	Process (apollo::perception::PerceptionObstacles *const response) override
Public 成员函数 继承自 apollo::third_party_perception::ThirdPartyPerception
	ThirdPartyPerception (apollo::cyber::Node *const node)
	ThirdPartyPerception ()=default
virtual	~ThirdPartyPerception ()=default
std::string	Name () const
apollo::common::Status	Init ()
apollo::common::Status	Start ()
void	Stop ()
void	OnLocalization (const apollo::localization::LocalizationEstimate &message)
void	OnChassis (const apollo::canbus::Chassis &message)

额外继承的成员函数
Protected 属性 继承自 apollo::third_party_perception::ThirdPartyPerception
std::mutex	third_party_perception_mutex_
apollo::localization::LocalizationEstimate	localization_
apollo::canbus::Chassis	chassis_
RadarObstacles	current_radar_obstacles_
RadarObstacles	last_radar_obstacles_
std::shared_ptr< apollo::cyber::Node >	node_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::localization::LocalizationEstimate > >	localization_reader_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::canbus::Chassis > >	chassis_reader_ = nullptr

详细描述

在文件 third_party_perception_mobileye.h 第 37 行定义.

构造及析构函数说明

ThirdPartyPerceptionMobileye() [1/2]

apollo::third_party_perception::ThirdPartyPerceptionMobileye::ThirdPartyPerceptionMobileye ( apollo::cyber::Node *const  node )

explicit

在文件 third_party_perception_mobileye.cc 第 34 行定义.

    : ThirdPartyPerception(node) {
  mobileye_reader_ = node_->CreateReader<apollo::drivers::Mobileye>(
      FLAGS_mobileye_topic,
      [this](const std::shared_ptr<apollo::drivers::Mobileye>& message) {
        OnMobileye(*message.get());
      });
  delphi_esr_reader_ = node_->CreateReader<apollo::drivers::DelphiESR>(
      FLAGS_delphi_esr_topic,
      [this](const std::shared_ptr<apollo::drivers::DelphiESR>& message) {
        OnDelphiESR(*message.get());
      });
 
  conti_radar_reader_ = node_->CreateReader<apollo::drivers::ContiRadar>(
      FLAGS_conti_radar_topic,
      [this](const std::shared_ptr<apollo::drivers::ContiRadar>& message) {
        OnContiRadar(*message.get());
      });
}

ThirdPartyPerceptionMobileye() [2/2]

apollo::third_party_perception::ThirdPartyPerceptionMobileye::ThirdPartyPerceptionMobileye ( )

default

~ThirdPartyPerceptionMobileye()

apollo::third_party_perception::ThirdPartyPerceptionMobileye::~ThirdPartyPerceptionMobileye ( )

default

成员函数说明

OnContiRadar()

void apollo::third_party_perception::ThirdPartyPerceptionMobileye::OnContiRadar

(

const apollo::drivers::ContiRadar &

message

)

在文件 third_party_perception_mobileye.cc 第 76 行定义.

                                                                         {
  ADEBUG << "Received delphi esr data: run continental radar callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  last_radar_obstacles_.CopyFrom(current_radar_obstacles_);
  current_radar_obstacles_ = conversion_radar::ContiToRadarObstacles(
      message, localization_, last_radar_obstacles_, chassis_);
  RadarObstacles filtered_radar_obstacles =
      filter::FilterRadarObstacles(current_radar_obstacles_);
  if (FLAGS_enable_radar) {
    radar_obstacles_ = conversion_radar::RadarObstaclesToPerceptionObstacles(
        filtered_radar_obstacles);
  }
}

OnDelphiESR()

void apollo::third_party_perception::ThirdPartyPerceptionMobileye::OnDelphiESR

(

const apollo::drivers::DelphiESR &

message

)

在文件 third_party_perception_mobileye.cc 第 62 行定义.

                                                                       {
  ADEBUG << "Received delphi esr data: run delphi esr callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  last_radar_obstacles_.CopyFrom(current_radar_obstacles_);
  current_radar_obstacles_ = conversion_radar::DelphiToRadarObstacles(
      message, localization_, last_radar_obstacles_);
  RadarObstacles filtered_radar_obstacles =
      filter::FilterRadarObstacles(current_radar_obstacles_);
  if (FLAGS_enable_radar) {
    radar_obstacles_ = conversion_radar::RadarObstaclesToPerceptionObstacles(
        filtered_radar_obstacles);
  }
}

OnMobileye()

void apollo::third_party_perception::ThirdPartyPerceptionMobileye::OnMobileye

(

const apollo::drivers::Mobileye &

message

)

在文件 third_party_perception_mobileye.cc 第 55 行定义.

                                                                     {
  ADEBUG << "Received mobileye data: run mobileye callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  eye_obstacles_ = conversion_mobileye::MobileyeToPerceptionObstacles(
      message, localization_, chassis_);
}

Process()

bool apollo::third_party_perception::ThirdPartyPerceptionMobileye::Process ( apollo::perception::PerceptionObstacles *const  response )

overridevirtual

重载 apollo::third_party_perception::ThirdPartyPerception .

在文件 third_party_perception_mobileye.cc 第 90 行定义.

                                         {
  ADEBUG << "Timer is triggered: publish PerceptionObstacles";
  CHECK_NOTNULL(response);
 
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
 
  *response = fusion::EyeRadarFusion(eye_obstacles_, radar_obstacles_);
 
  common::util::FillHeader(FLAGS_third_party_perception_node_name, response);
 
  eye_obstacles_.Clear();
  radar_obstacles_.Clear();
  return true;
}

---

该类的文档由以下文件生成:

• modules/third_party_perception/third_party_perception_mobileye.h
• modules/third_party_perception/third_party_perception_mobileye.cc