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a3d69b0e
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体验新版 GitCode,发现更多精彩内容 >>
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a3d69b0e
编写于
9月 25, 2018
作者:
J
Jiangtao Hu
提交者:
Liangliang Zhang
9月 25, 2018
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电子邮件补丁
差异文件
perception: add onboard/msg_serializer BUILD.
上级
0c6ebcf2
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
28 addition
and
4 deletion
+28
-4
modules/perception/onboard/msg_serializer/BUILD
modules/perception/onboard/msg_serializer/BUILD
+23
-0
modules/perception/onboard/msg_serializer/msg_serializer.cc
modules/perception/onboard/msg_serializer/msg_serializer.cc
+5
-4
未找到文件。
modules/perception/onboard/msg_serializer/BUILD
.txt
→
modules/perception/onboard/msg_serializer/BUILD
浏览文件 @
a3d69b0e
# DO NOT MODIFY
# THIS FILE IS GENERATED AUTOMATICALLY TO HELP WRITE BUILD FILE
# DELETE THIS FILE WHEN YOU HAVE CREATED THE COMPLETE BUILD FILE
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"msg_serializer"
,
srcs
=
[
...
...
@@ -10,5 +11,13 @@ cc_library(
"msg_serializer.h"
,
],
deps
=
[
"@eigen"
,
"//framework:cybertron"
,
"//modules/perception/base"
,
"//modules/perception/lib/utils"
,
"//modules/perception/onboard/common_flags"
,
"//modules/perception/proto:perception_proto"
,
],
)
cpplint
()
modules/perception/onboard/msg_serializer/msg_serializer.cc
浏览文件 @
a3d69b0e
...
...
@@ -86,7 +86,7 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
}
if
(
FLAGS_obs_benchmark_mode
)
{
for
(
auto
&
point
:
object_ptr
->
lidar_supplement
.
cloud
)
{
for
(
auto
&
point
:
object_ptr
->
lidar_supplement
.
cloud
.
points
()
)
{
pb_msg
->
add_point_cloud
(
point
.
x
);
pb_msg
->
add_point_cloud
(
point
.
y
);
pb_msg
->
add_point_cloud
(
point
.
z
);
...
...
@@ -115,8 +115,9 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
}
pb_msg
->
set_tracking_time
(
object_ptr
->
tracking_time
);
pb_msg
->
set_type
(
static_cast
<
apollo
::
perception
::
Type
>
(
object_ptr
->
type
));
pb_msg
->
set_sub_type
(
static_cast
<
SubType
>
(
object_ptr
->
sub_type
));
pb_msg
->
set_type
(
static_cast
<
PerceptionObstacle
::
Type
>
(
object_ptr
->
type
));
pb_msg
->
set_sub_type
(
static_cast
<
PerceptionObstacle
::
SubType
>
(
object_ptr
->
sub_type
));
pb_msg
->
set_timestamp
(
object_ptr
->
latest_tracked_time
);
// in seconds.
if
(
object_ptr
->
lidar_supplement
.
height_above_ground
!=
FLT_MAX
)
{
...
...
@@ -162,7 +163,7 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
pb_velocity
->
set_z
(
measurement
.
velocity
(
2
));
pb_measurement
->
set_type
(
static_cast
<
apollo
::
perception
::
Type
>
(
measurement
.
type
));
static_cast
<
PerceptionObstacle
::
Type
>
(
measurement
.
type
));
// pb_measurement->set_sub_type();
pb_measurement
->
set_timestamp
(
measurement
.
timestamp
);
...
...
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