apollo::perception::lidar::Bitmap2D类 参考

#include <bitmap2d.h>

apollo::perception::lidar::Bitmap2D 的协作图:

Public 类型
enum class	DirectionMajor { XMAJOR = 0 , YMAJOR = 1 }
typedef Eigen::Matrix< size_t, 2, 1 >	Vec2ui
typedef Eigen::Matrix< size_t, 3, 1 >	Vec3ui

Public 成员函数
	Bitmap2D ()=default
	Construct a new Bitmap 2D object
virtual	~Bitmap2D ()=default
	Destroy the Bitmap 2D object
DirectionMajor	OppositeDirection (const DirectionMajor dir_major)
	Opposite direction of direction_major
const Eigen::Vector2d &	min_range () const
	Return the min_range_
const Eigen::Vector2d &	max_range () const
	Return the max_range_
const Eigen::Vector2d &	cell_size () const
	Return the cell_size_
const Vec2ui &	map_size () const
	Return the map_size_
const Vec2ui &	dims () const
	Retrun the dims_
const std::vector< uint64_t > &	bitmap () const
	Return the bitmap_
int	dir_major () const
	Return the dir_major_
int	op_dir_major () const
	Return the op_dir_major
void	Init (const Eigen::Vector2d &min_range, const Eigen::Vector2d &max_range, const Eigen::Vector2d &cell_size)
	Init of Bitmap 2D object
void	SetUp (const DirectionMajor dir_major)
	Set the dir_major_ and op_dir_major_
bool	Empty () const
	cehck the bitmap_ is emtpy
bool	IsExists (const Eigen::Vector2d &p) const
	check the vector p is in bitmap_
bool	Check (const Eigen::Vector2d &p) const
	Check the vector p
void	Set (const Eigen::Vector2d &p)
	Set the vector p
void	Reset (const Eigen::Vector2d &p)
	Reset the vector p
void	Set (const double x, const double min_y, const double max_y)
	Set thr rangebits and headbits
void	Reset (const double x, const double min_y, const double max_y)
	Reset the rangebits and headbits

友元
std::ostream &	operator<< (std::ostream &out, const Bitmap2D &bitmap)
	print some meta data

详细描述

在文件 bitmap2d.h 第 29 行定义.

成员类型定义说明

Vec2ui

typedef Eigen::Matrix<size_t, 2, 1> apollo::perception::lidar::Bitmap2D::Vec2ui

在文件 bitmap2d.h 第 32 行定义.

Vec3ui

typedef Eigen::Matrix<size_t, 3, 1> apollo::perception::lidar::Bitmap2D::Vec3ui

在文件 bitmap2d.h 第 33 行定义.

成员枚举类型说明

DirectionMajor

enum class apollo::perception::lidar::Bitmap2D::DirectionMajor

strong

枚举值
XMAJOR
YMAJOR

在文件 bitmap2d.h 第 31 行定义.

{ XMAJOR = 0, YMAJOR = 1 };

构造及析构函数说明

Bitmap2D()

apollo::perception::lidar::Bitmap2D::Bitmap2D ( )

default

Construct a new Bitmap 2D object

~Bitmap2D()

virtual apollo::perception::lidar::Bitmap2D::~Bitmap2D ( )

virtualdefault

Destroy the Bitmap 2D object

成员函数说明

bitmap()

const std::vector< uint64_t > & apollo::perception::lidar::Bitmap2D::bitmap ( ) const

inline

Return the bitmap_

返回

const std::vector<uint64_t>& bitmap_

在文件 bitmap2d.h 第 96 行定义.

{ return bitmap_; }

cell_size()

const Eigen::Vector2d & apollo::perception::lidar::Bitmap2D::cell_size ( ) const

inline

Return the cell_size_

返回

const Eigen::Vector2d& cell_size_

在文件 bitmap2d.h 第 75 行定义.

{ return cell_size_; }

Check()

bool apollo::perception::lidar::Bitmap2D::Check

(

const Eigen::Vector2d &

p

)

const

Check the vector p

参数

p

2d vector

返回

true

false

在文件 bitmap2d.cc 第 121 行定义.

                                                 {
  const Vec3ui bit_p = RealToBitmap(p);
  const int idx = Index(bit_p);
  return CheckBit(bit_p.z(), bitmap_[idx]);
}

dims()

const Vec2ui & apollo::perception::lidar::Bitmap2D::dims ( ) const

inline

Retrun the dims_

返回

const Vec2ui& dims_

在文件 bitmap2d.h 第 89 行定义.

{ return dims_; }

dir_major()

int apollo::perception::lidar::Bitmap2D::dir_major ( ) const

inline

Return the dir_major_

返回

int dir_major_

在文件 bitmap2d.h 第 103 行定义.

{ return static_cast<int>(dir_major_); }

Empty()

bool apollo::perception::lidar::Bitmap2D::Empty ( ) const

inline

cehck the bitmap_ is emtpy

返回

true

false

在文件 bitmap2d.h 第 136 行定义.

{ return bitmap_.empty(); }

Init()

void apollo::perception::lidar::Bitmap2D::Init	(	const Eigen::Vector2d &	min_range,
		const Eigen::Vector2d &	max_range,
		const Eigen::Vector2d &	cell_size
	)

Init of Bitmap 2D object

参数

min_range	min range of the bitmap
max_range	max range of the bitmap
cell_size	cell size of bitmap

在文件 bitmap2d.cc 第 72 行定义.

                                                    {
  CHECK_GT(cell_size.x(), 0);
  CHECK_GT(cell_size.y(), 0);
  CHECK_GT(max_range.x(), min_range.x() + cell_size.x());
  CHECK_GT(max_range.y(), min_range.y() + cell_size.y());
 
  min_range_ = min_range;
  max_range_ = max_range;
  cell_size_ = cell_size;
 
  dims_ =
      ((max_range_ - min_range_).array() / cell_size_.array()).cast<size_t>();
  dims_ += Vec2ui(1, 1);
  map_size_[0] = dims_[0];
  map_size_[1] = (dims_[1] >> 6) + 1;
  bitmap_.resize(map_size_[0] * map_size_[1], 0);
}

IsExists()

bool apollo::perception::lidar::Bitmap2D::IsExists

(

const Eigen::Vector2d &

p

)

const

check the vector p is in bitmap_

参数

p

2d vector

返回

true

false

在文件 bitmap2d.cc 第 115 行定义.

                                                    {
  return p.x() >= min_range_.x() && p.x() < max_range_.x() &&
         p.y() >= min_range_.y() && p.y() < max_range_.y();
}

map_size()

const Vec2ui & apollo::perception::lidar::Bitmap2D::map_size ( ) const

inline

Return the map_size_

返回

const Vec2ui& map_size_

在文件 bitmap2d.h 第 82 行定义.

{ return map_size_; }

max_range()

const Eigen::Vector2d & apollo::perception::lidar::Bitmap2D::max_range ( ) const

inline

Return the max_range_

返回

const Eigen::Vector2d& max_range_

在文件 bitmap2d.h 第 68 行定义.

{ return max_range_; }

min_range()

const Eigen::Vector2d & apollo::perception::lidar::Bitmap2D::min_range ( ) const

inline

Return the min_range_

返回

const Eigen::Vector2d& min_range_

在文件 bitmap2d.h 第 61 行定义.

{ return min_range_; }

op_dir_major()

int apollo::perception::lidar::Bitmap2D::op_dir_major ( ) const

inline

Return the op_dir_major

返回

int op_dir_major

在文件 bitmap2d.h 第 110 行定义.

{ return static_cast<int>(op_dir_major_); }

OppositeDirection()

Bitmap2D::DirectionMajor apollo::perception::lidar::Bitmap2D::OppositeDirection ( const DirectionMajor  dir_major )

inline

Opposite direction of direction_major

参数

dir_major

major direction

返回

DirectionMajor

在文件 bitmap2d.cc 第 28 行定义.

                                            {
  return static_cast<DirectionMajor>(static_cast<int>(dir_major) ^ 1);
}

Reset() [1/2]

void apollo::perception::lidar::Bitmap2D::Reset	(	const double	x,
		const double	min_y,
		const double	max_y
	)

Reset the rangebits and headbits

参数

x	x position
min_y	min y of bitmap
max_y	max y of bitmap

在文件 bitmap2d.cc 第 161 行定义.

                                                                           {
  Eigen::Vector2d real_left, real_right;
  real_left[op_dir_major()] = min_y;
  real_right[op_dir_major()] = max_y;
  real_left[dir_major()] = real_right[dir_major()] = x;
  const Vec3ui left_bit_p = RealToBitmap(real_left);
  const Vec3ui right_bit_p = RealToBitmap(real_right);
  if (left_bit_p.y() == right_bit_p.y()) {
    const int idx = Index(left_bit_p);
    ResetRangeBits(right_bit_p.z() + 1, left_bit_p.z(), &bitmap_[idx]);
    return;
  }
  // set first block and last block
  const size_t left_idx = Index(left_bit_p);
  const size_t right_idx = Index(right_bit_p);
  ResetHeadBits(left_bit_p.z(), &bitmap_[left_idx]);
  ResetTailBits(right_bit_p.z(), &bitmap_[right_idx]);
  for (size_t i = left_idx + 1; i < right_idx; ++i) {
    bitmap_[i] = static_cast<uint64_t>(0);
  }
}

Reset() [2/2]

void apollo::perception::lidar::Bitmap2D::Reset

(

const Eigen::Vector2d &

p

)

Reset the vector p

参数

p

2d vector

在文件 bitmap2d.cc 第 134 行定义.

                                           {
  const Vec3ui bit_p = RealToBitmap(p);
  const int idx = Index(bit_p);
  return ResetBit(bit_p.z(), &bitmap_[idx]);
}

Set() [1/2]

void apollo::perception::lidar::Bitmap2D::Set	(	const double	x,
		const double	min_y,
		const double	max_y
	)

Set thr rangebits and headbits

参数

x	x position
min_y	min y of bitmap
max_y	max y of bitmap

在文件 bitmap2d.cc 第 140 行定义.

                                                                         {
  Eigen::Vector2d real_left, real_right;
  real_left[op_dir_major()] = min_y;
  real_right[op_dir_major()] = max_y;
  real_left[dir_major()] = real_right[dir_major()] = x;
  const Vec3ui left_bit_p = RealToBitmap(real_left);
  const Vec3ui right_bit_p = RealToBitmap(real_right);
  if (left_bit_p.y() == right_bit_p.y()) {
    const int idx = Index(left_bit_p);
    SetRangeBits(right_bit_p.z(), left_bit_p.z(), &bitmap_[idx]);
    return;
  }
  const size_t left_idx = Index(left_bit_p);
  const size_t right_idx = Index(right_bit_p);
  SetHeadBits(left_bit_p.z(), &bitmap_[left_idx]);
  SetTailBits(right_bit_p.z(), &bitmap_[right_idx]);
  for (size_t i = left_idx + 1; i < right_idx; ++i) {
    bitmap_[i] = static_cast<uint64_t>(-1);
  }
}

Set() [2/2]

void apollo::perception::lidar::Bitmap2D::Set

(

const Eigen::Vector2d &

p

)

Set the vector p

参数

p

2d vector

在文件 bitmap2d.cc 第 128 行定义.

                                         {
  const Vec3ui bit_p = RealToBitmap(p);
  const int idx = Index(bit_p);
  return SetBit(bit_p.z(), &bitmap_[idx]);
}

SetUp()

void apollo::perception::lidar::Bitmap2D::SetUp

(

const DirectionMajor

dir_major

)

Set the dir_major_ and op_dir_major_

参数

dir_major

在文件 bitmap2d.cc 第 92 行定义.

                                                   {
  dir_major_ = dir_major;
  op_dir_major_ = OppositeDirection(dir_major);
  memset(bitmap_.data(), 0, sizeof(bitmap_[0]) * bitmap_.size());
}

友元及相关函数文档

operator<<

std::ostream & operator<< ( std::ostream &  out, const Bitmap2D &  bitmap  )

friend

print some meta data

参数

out
bitmap

返回

std::ostream&

在文件 bitmap2d.h 第 196 行定义.

                                                                         {
    out << boost::format(
               "min_range: %lf %lf; max_range: %lf %lf;"
               "cell_size: %lf %lf; dims: %d %d; dir_major: %s") %
               bitmap.min_range_.x() % bitmap.min_range_.y() %
               bitmap.max_range_.x() % bitmap.max_range_.y() %
               bitmap.cell_size_.x() % bitmap.cell_size_.y() %
               bitmap.dims_.x() % bitmap.dims_.y() %
               (bitmap.dir_major_ == DirectionMajor::XMAJOR ? "x" : "y");
    return out;
  }

---

该类的文档由以下文件生成:

• modules/perception/pointcloud_map_based_roi/roi_filter/hdmap_roi_filter/bitmap2d.h
• modules/perception/pointcloud_map_based_roi/roi_filter/hdmap_roi_filter/bitmap2d.cc