The options of the reflectance map. 更多...

#include <base_map_config.h>

类 apollo::localization::msf::BaseMapConfig 继承关系图:

apollo::localization::msf::BaseMapConfig 的协作图:

Public 成员函数
	BaseMapConfig (std::string map_version="0.1")
	The constructor gives the default map settings.

bool	Save (const std::string file_path)
	Save the map option to a XML file.

bool	Load (const std::string file_path)
	Load the map option from a XML file.

void	ResizeMapRange ()
	Resize map range by range and resolutions.

void	SetSingleResolutions (float resolution=0.125)
	Set single resolutions.

void	SetMultiResolutions ()
	Set multi resolutions.

Public 属性
std::string	map_version_
	The version of map.

std::vector< float >	map_resolutions_
	The pixel resolutions in the map in meters.

unsigned int	map_node_size_x_
	The map node size in pixels.

unsigned int	map_node_size_y_
	The map node size in pixels.

Rect2D< double >	map_range_
	The minimum and maximum UTM range in the map.

float	map_ground_height_offset_
	Velodyne's height to the ground.

bool	map_is_compression_
	Enable the compression.

std::string	map_folder_path_
	The map folder path.

std::vector< std::string >	map_datasets_
	The datasets that contributed to the map.

Protected 成员函数
virtual void	CreateXml (boost::property_tree::ptree *config) const
	Create the XML structure.

virtual void	LoadXml (const boost::property_tree::ptree &config)
	Load the map options from a XML structure.

详细描述

The options of the reflectance map.

在文件 base_map_config.h 第 32 行定义.

构造及析构函数说明

◆ BaseMapConfig()

apollo::localization::msf::BaseMapConfig::BaseMapConfig ( std::string map_version = "0.1" )

explicit

The constructor gives the default map settings.

在文件 base_map_config.cc 第 26 行定义.

                                                  {
  map_resolutions_.push_back(0.125);  // Resolution: 0.125m in level 2
  map_node_size_x_ = 1024;            // in pixels
  map_node_size_y_ = 1024;            // in pixels
  map_range_ = Rect2D<double>(0, 0, 1000448.0, 10000384.0);  // in meters
 
  map_version_ = map_version;
  map_folder_path_ = ".";
}

成员函数说明

◆ CreateXml()

void apollo::localization::msf::BaseMapConfig::CreateXml ( boost::property_tree::ptree * config ) const

protectedvirtual

Create the XML structure.

被 apollo::localization::msf::LosslessMapConfig, apollo::localization::msf::LossyMapConfig2D , 以及 apollo::localization::msf::NdtMapConfig 重载.

在文件 base_map_config.cc 第 60 行定义.

                                                                   {
  config->put("map.map_config.version", map_version_);
  config->put("map.map_config.node_size.x", map_node_size_x_);
  config->put("map.map_config.node_size.y", map_node_size_y_);
  config->put("map.map_config.range.min_x", map_range_.GetMinX());
  config->put("map.map_config.range.min_y", map_range_.GetMinY());
  config->put("map.map_config.range.max_x", map_range_.GetMaxX());
  config->put("map.map_config.range.max_y", map_range_.GetMaxY());
  config->put("map.map_config.compression", map_is_compression_);
  config->put("map.map_runtime.map_ground_height_offset",
              map_ground_height_offset_);
  for (size_t i = 0; i < map_resolutions_.size(); ++i) {
    config->add("map.map_config.resolutions.resolution", map_resolutions_[i]);
  }
 
  for (size_t i = 0; i < map_datasets_.size(); ++i) {
    config->add("map.map_record.datasets.dataset", map_datasets_[i]);
  }
}

◆ Load()

bool apollo::localization::msf::BaseMapConfig::Load ( const std::string file_path )

Load the map option from a XML file.

在文件 base_map_config.cc 第 44 行定义.

                                                  {
  boost::property_tree::ptree config;
  boost::property_tree::read_xml(file_path, config);
 
  std::string map_version = config.get<std::string>("map.map_config.version");
  if (map_version_ == map_version) {
    LoadXml(config);
    AINFO << "Loaded the map configuration from: " << file_path;
    return true;
  } else {
    AERROR << "[Fatal Error] Expect v" << map_version_ << " map, but found v"
           << map_version << " map.";
    return false;
  }
}

◆ LoadXml()

void apollo::localization::msf::BaseMapConfig::LoadXml ( const boost::property_tree::ptree & config )

protectedvirtual

Load the map options from a XML structure.

被 apollo::localization::msf::LosslessMapConfig , 以及 apollo::localization::msf::LossyMapConfig2D 重载.

在文件 base_map_config.cc 第 80 行定义.

                                                                 {
  map_resolutions_.clear();
  map_datasets_.clear();
  map_node_size_x_ = config.get<unsigned int>("map.map_config.node_size.x");
  map_node_size_y_ = config.get<unsigned int>("map.map_config.node_size.y");
  double min_x = config.get<double>("map.map_config.range.min_x");
  double min_y = config.get<double>("map.map_config.range.min_y");
  double max_x = config.get<double>("map.map_config.range.max_x");
  double max_y = config.get<double>("map.map_config.range.max_y");
  map_range_ = Rect2D<double>(min_x, min_y, max_x, max_y);
  map_is_compression_ = config.get<bool>("map.map_config.compression");
  map_ground_height_offset_ =
      config.get<float>("map.map_runtime.map_ground_height_offset");
  const auto& resolutions = config.get_child("map.map_config.resolutions");
  std::for_each(resolutions.begin(), resolutions.end(),
                [this](const boost::property_tree::ptree::value_type& v) {
                  map_resolutions_.push_back(
                      static_cast<float>(atof(v.second.data().c_str())));
                  AINFO << "Resolution: " << v.second.data();
                });
  const auto& datasets = config.get_child("map.map_record.datasets");
  std::for_each(datasets.begin(), datasets.end(),
                [this](const boost::property_tree::ptree::value_type& v) {
                  map_datasets_.push_back(v.second.data());
                  AINFO << "Dataset: " << v.second.data();
                });
}

◆ ResizeMapRange()

void apollo::localization::msf::BaseMapConfig::ResizeMapRange ( )

Resize map range by range and resolutions.

在文件 base_map_config.cc 第 108 行定义.

                                   {
  double min_x = 0;
  double min_y = 0;
  double max_x = 0;
  double max_y = 0;
 
  double max_resolutions = 0.0;
  for (std::size_t i = 0; i < map_resolutions_.size(); ++i) {
    if (max_resolutions < map_resolutions_[i]) {
      max_resolutions = map_resolutions_[i];
    }
  }
 
  int n = 0;
  while (true) {
    if (min_x < map_range_.GetMinX()) {
      break;
    }
    ++n;
    min_x -= n * map_node_size_x_ * max_resolutions;
  }
  n = 0;
  while (true) {
    if (min_y < map_range_.GetMinY()) {
      break;
    }
    ++n;
    min_y -= n * map_node_size_y_ * max_resolutions;
  }
  n = 0;
  while (true) {
    if (max_x > map_range_.GetMaxX()) {
      break;
    }
    ++n;
    max_x += n * map_node_size_x_ * max_resolutions;
  }
  n = 0;
  while (true) {
    if (max_y > map_range_.GetMaxY()) {
      break;
    }
    ++n;
    max_y += n * map_node_size_y_ * max_resolutions;
  }
  map_range_ = Rect2D<double>(min_x, min_y, max_x, max_y);
}

◆ Save()

bool apollo::localization::msf::BaseMapConfig::Save ( const std::string file_path )

Save the map option to a XML file.

在文件 base_map_config.cc 第 36 行定义.

                                                  {
  boost::property_tree::ptree config;
  CreateXml(&config);
  boost::property_tree::write_xml(file_path, config);
  AINFO << "Saved the map configuration to: " << file_path;
  return true;
}

◆ SetMultiResolutions()

void apollo::localization::msf::BaseMapConfig::SetMultiResolutions ( )

Set multi resolutions.

在文件 base_map_config.cc 第 161 行定义.

                                        {
  map_resolutions_.clear();
  map_resolutions_.push_back(0.03125);
  map_resolutions_.push_back(0.0625);
  map_resolutions_.push_back(0.125);
  map_resolutions_.push_back(0.25);
  map_resolutions_.push_back(0.5);
  map_resolutions_.push_back(1);
  map_resolutions_.push_back(2);
  map_resolutions_.push_back(4);
  map_resolutions_.push_back(8);
  map_resolutions_.push_back(16);
}

◆ SetSingleResolutions()

void apollo::localization::msf::BaseMapConfig::SetSingleResolutions ( float resolution = 0.125 )

Set single resolutions.

在文件 base_map_config.cc 第 156 行定义.

                                                         {
  map_resolutions_.clear();
  map_resolutions_.push_back(resolution);
}

类成员变量说明

◆ map_datasets_

std::vector<std::string> apollo::localization::msf::BaseMapConfig::map_datasets_

The datasets that contributed to the map.

在文件 base_map_config.h 第 71 行定义.

◆ map_folder_path_

std::string apollo::localization::msf::BaseMapConfig::map_folder_path_

The map folder path.

在文件 base_map_config.h 第 69 行定义.

◆ map_ground_height_offset_

float apollo::localization::msf::BaseMapConfig::map_ground_height_offset_

Velodyne's height to the ground.

Estimate the Velodyne's height based on the ground height.

在文件 base_map_config.h 第 64 行定义.

◆ map_is_compression_

bool apollo::localization::msf::BaseMapConfig::map_is_compression_

Enable the compression.

在文件 base_map_config.h 第 66 行定义.

◆ map_node_size_x_

unsigned int apollo::localization::msf::BaseMapConfig::map_node_size_x_

The map node size in pixels.

在文件 base_map_config.h 第 52 行定义.

◆ map_node_size_y_

unsigned int apollo::localization::msf::BaseMapConfig::map_node_size_y_

The map node size in pixels.

在文件 base_map_config.h 第 54 行定义.

◆ map_range_

Rect2D<double> apollo::localization::msf::BaseMapConfig::map_range_

The minimum and maximum UTM range in the map.

The x direction is the easting in UTM coordinate. The y direction is the northing in UTM coordinate.

在文件 base_map_config.h 第 60 行定义.

◆ map_resolutions_

std::vector<float> apollo::localization::msf::BaseMapConfig::map_resolutions_

The pixel resolutions in the map in meters.

在文件 base_map_config.h 第 50 行定义.

◆ map_version_

std::string apollo::localization::msf::BaseMapConfig::map_version_

The version of map.

在文件 base_map_config.h 第 48 行定义.

该类的文档由以下文件生成:

modules/localization/msf/local_map/base_map/base_map_config.h
modules/localization/msf/local_map/base_map/base_map_config.cc

Public 成员函数

Public 属性

Protected 成员函数