apollo::localization::msf::BaseMapNode类 参考

The data structure of a Node in the map. 更多...

#include <base_map_node.h>

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

apollo::localization::msf::BaseMapNode 的协作图:

Public 成员函数
	BaseMapNode (BaseMapMatrix *matrix, CompressionStrategy *strategy)
	Construct a map node.
virtual	~BaseMapNode ()
	Destruct a map node.
virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)
	Initialize the map node.
virtual void	InitMapMatrix (const BaseMapConfig *map_config)
	Initialize the map matrix.
virtual void	Finalize ()
	call before deconstruction or reset.
virtual void	ResetMapNode ()
	Reset map cells data.
bool	Save ()
	Save the map node to the disk.
bool	SaveIntensityImage () const
	Save intensity image of node.
bool	Load ()
	Load the map node from the disk.
bool	Load (const char *filename)
const BaseMapMatrix &	GetMapCellMatrix () const
	Get map cell matrix.
BaseMapMatrix &	GetMapCellMatrix ()
const BaseMapConfig &	GetMapConfig () const
	Get the map settings.
void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index.
const MapNodeIndex &	GetMapNodeIndex () const
	Get the map node index.
void	SetIsReserved (bool is_reserved)
	Set if the map node is reserved.
bool	GetIsReserved () const
	Get if the map node is reserved.
bool	GetIsChanged () const
	Get if the map data has changed.
void	SetIsChanged (bool is)
	Set if the map node data has changed.
bool	GetIsReady () const
	Get if the map node data is ready
const Eigen::Vector2d &	GetLeftTopCorner () const
	Get the left top corner of the map node.
void	SetLeftTopCorner (double x, double y)
float	GetMapResolution () const
	Get the resolution of this map nodex.
bool	GetCoordinate (const Eigen::Vector2d &coordinate, unsigned int *x, unsigned int *y) const
	Given the global coordinate, get the local 2D coordinate of the map cell matrix.
bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int *x, unsigned int *y) const
Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate, eigen version.

静态 Public 成员函数
static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Protected 成员函数
virtual unsigned int	LoadBinary (FILE *file)
	Load the map cell from a binary chunk.
virtual unsigned int	CreateBinary (FILE *file) const
	Create the binary.
virtual unsigned int	GetBinarySize () const
	Get the binary size of the object.
virtual unsigned int	LoadHeaderBinary (unsigned char *buf)
	Load the map node header from a binary chunk.
virtual unsigned int	CreateHeaderBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary header.
virtual unsigned int	GetHeaderBinarySize () const
	Get the size of the header in bytes.
virtual unsigned int	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk.
virtual unsigned int	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body.
virtual unsigned int	GetBodyBinarySize () const
	Get the size of the body in bytes.
bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node.

Protected 属性
const BaseMapConfig *	map_config_ = nullptr
	The map settings.
MapNodeIndex	index_
	The index of this node.
Eigen::Vector2d	left_top_corner_
	The left top corner of the map node in the global coordinate system.
BaseMapMatrix *	map_matrix_
	The data structure of the map datas, which is a matrix.
bool	is_reserved_ = false
	If the node is reserved in map.
bool	is_changed_ = false
	Has the map node been changed.
bool	data_is_ready_ = false
unsigned int	file_body_binary_size_ = 0
	The body binary size in file.
CompressionStrategy *	compression_strategy_ = nullptr
	@bried The compression strategy.
float	min_altitude_ = 1e6
	The min altitude of point cloud in the node.

详细描述

The data structure of a Node in the map.

在文件 base_map_node.h 第 32 行定义.

构造及析构函数说明

BaseMapNode()

apollo::localization::msf::BaseMapNode::BaseMapNode	(	BaseMapMatrix *	matrix,
		CompressionStrategy *	strategy
	)

Construct a map node.

在文件 base_map_node.cc 第 30 行定义.

    : map_matrix_(matrix), compression_strategy_(strategy) {}

~BaseMapNode()

apollo::localization::msf::BaseMapNode::~BaseMapNode ( )

virtual

Destruct a map node.

在文件 base_map_node.cc 第 33 行定义.

                          {
  if (map_matrix_ != nullptr) {
    delete map_matrix_;
  }
  if (compression_strategy_ != nullptr) {
    delete compression_strategy_;
  }
}

成员函数说明

CreateBinary()

unsigned int apollo::localization::msf::BaseMapNode::CreateBinary ( FILE *  file ) const

protectedvirtual

Create the binary.

Serialization of the object.

参数

<return>

The the used size of binary is returned.

在文件 base_map_node.cc 第 204 行定义.

                                                       {
  unsigned int buf_size = GetBinarySize();
  std::vector<unsigned char> buffer;
  buffer.resize(buf_size);
 
  unsigned int binary_size = 0;
  std::vector<unsigned char> body_buffer;
  CreateBodyBinary(&body_buffer);
  // CHECK_EQ(processed_size, buf_size);
 
  // Create header
  unsigned int header_size = GetHeaderBinarySize();
  unsigned int processed_size = CreateHeaderBinary(&buffer[0], buf_size);
  CHECK_EQ(processed_size, header_size);
 
  unsigned int buffer_bias = processed_size;
  buf_size -= processed_size;
  binary_size += processed_size;
  // Create body
  CHECK_GE(buf_size, body_buffer.size());
  memcpy(&buffer[buffer_bias], &body_buffer[0], body_buffer.size());
  binary_size += static_cast<unsigned int>(body_buffer.size());
  fwrite(&buffer[0], 1, binary_size, file);
  return binary_size;
}

CreateBodyBinary()

unsigned int apollo::localization::msf::BaseMapNode::CreateBodyBinary ( std::vector< unsigned char > *  buf ) const

protectedvirtual

Create the binary body.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

在文件 base_map_node.cc 第 310 行定义.

                                         {
  if (compression_strategy_ == nullptr) {
    unsigned int body_size = GetBodyBinarySize();
    buf->resize(body_size);
    map_matrix_->CreateBinary(&((*buf)[0]), body_size);
    file_body_binary_size_ = static_cast<unsigned int>(buf->size());
    return static_cast<unsigned int>(buf->size());
  }
  std::vector<unsigned char> buf_uncompressed;
  // Compute the uncompression binary body size
  unsigned int body_size = GetBodyBinarySize();
  buf_uncompressed.resize(body_size);
  map_matrix_->CreateBinary(&buf_uncompressed[0], body_size);
  compression_strategy_->Encode(&buf_uncompressed, buf);
  file_body_binary_size_ = static_cast<unsigned int>(buf->size());
  return static_cast<unsigned int>(buf->size());
}

CreateHeaderBinary()

unsigned int apollo::localization::msf::BaseMapNode::CreateHeaderBinary ( unsigned char *  buf, unsigned int  buf_size  ) const

protectedvirtual

Create the binary header.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

在文件 base_map_node.cc 第 254 行定义.

                                                                          {
  unsigned int target_size = GetHeaderBinarySize();
  if (buf_size >= target_size) {
    unsigned int* p = reinterpret_cast<unsigned int*>(buf);
    *p = index_.resolution_id_;
    ++p;
    int* pp = reinterpret_cast<int*>(p);
    *pp = index_.zone_id_;
    ++pp;
    p = reinterpret_cast<unsigned int*>(pp);
    *p = index_.m_;
    ++p;
    *p = index_.n_;
    ++p;
    *p = file_body_binary_size_;  // Set it before call this function!
  }
  return target_size;
}

Finalize()

void apollo::localization::msf::BaseMapNode::Finalize ( )

virtual

call before deconstruction or reset.

在文件 base_map_node.cc 第 60 行定义.

                           {
  if (is_changed_) {
    Save();
    AERROR << "Save Map Node to disk: " << index_ << ".";
  }
}

GetBinarySize()

unsigned int apollo::localization::msf::BaseMapNode::GetBinarySize ( ) const

protectedvirtual

Get the binary size of the object.

在文件 base_map_node.cc 第 230 行定义.

                                              {
  // It is uncompressed binary size.
  return GetBodyBinarySize() + GetHeaderBinarySize();
}

GetBodyBinarySize()

unsigned int apollo::localization::msf::BaseMapNode::GetBodyBinarySize ( ) const

protectedvirtual

Get the size of the body in bytes.

在文件 base_map_node.cc 第 329 行定义.

                                                  {
  return map_matrix_->GetBinarySize();
}

GetCoordinate() [1/3]

bool apollo::localization::msf::BaseMapNode::GetCoordinate	(	const Eigen::Vector2d &	coordinate,
		unsigned int *	x,
		unsigned int *	y
	)		const

Given the global coordinate, get the local 2D coordinate of the map cell matrix.

<return> If global coordinate (x, y) belongs to this map node.

Given the local 2D coordinate, return the global coordinate.

Given the global coordinate, get the local 2D coordinate of the map cell matrix. <return> If global coordinate (x, y) belongs to this map node, eigen version.

在文件 base_map_node.cc 第 352 行定义.

                                                                        {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  int off_x = static_cast<int>((coordinate[0] - left_top_corner[0]) /
                               GetMapResolution());
  int off_y = static_cast<int>((coordinate[1] - left_top_corner[1]) /
                               GetMapResolution());
  if (off_x >= 0 &&
      off_x < static_cast<int>(this->map_config_->map_node_size_x_) &&
      off_y >= 0 &&
      off_y < static_cast<int>(this->map_config_->map_node_size_y_)) {
    *x = static_cast<unsigned int>(off_x);
    *y = static_cast<unsigned int>(off_y);
    return true;
  } else {
    return false;
  }
}

GetCoordinate() [2/3]

bool apollo::localization::msf::BaseMapNode::GetCoordinate	(	const Eigen::Vector3d &	coordinate,
		unsigned int *	x,
		unsigned int *	y
	)		const

在文件 base_map_node.cc 第 379 行定义.

                                                                        {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  return GetCoordinate(coord2d, x, y);
}

GetCoordinate() [3/3]

Eigen::Vector2d apollo::localization::msf::BaseMapNode::GetCoordinate	(	unsigned int	x,
		unsigned int	y
	)		const

Given the local 2D coordinate, return the global coordinate, eigen version.

在文件 base_map_node.cc 第 394 行定义.

                                                                 {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord(
      left_top_corner[0] + static_cast<float>(x) * GetMapResolution(),
      left_top_corner[1] + static_cast<float>(y) * GetMapResolution());
  return coord;
}

GetHeaderBinarySize()

unsigned int apollo::localization::msf::BaseMapNode::GetHeaderBinarySize ( ) const

protectedvirtual

Get the size of the header in bytes.

在文件 base_map_node.cc 第 274 行定义.

                                                    {
  return static_cast<int>(sizeof(unsigned int)      // index_.resolution_id_
                          + sizeof(int)             // index_.zone_id_
                          + sizeof(unsigned int)    // index_.m_
                          + sizeof(unsigned int)    // index_.n_
                          + sizeof(unsigned int));  // the body size in file.
}

GetIsChanged()

bool apollo::localization::msf::BaseMapNode::GetIsChanged ( ) const

inline

Get if the map data has changed.

在文件 base_map_node.h 第 75 行定义.

{ return is_changed_; }

GetIsReady()

bool apollo::localization::msf::BaseMapNode::GetIsReady ( ) const

inline

Get if the map node data is ready

在文件 base_map_node.h 第 79 行定义.

{ return data_is_ready_; }

GetIsReserved()

bool apollo::localization::msf::BaseMapNode::GetIsReserved ( ) const

inline

Get if the map node is reserved.

在文件 base_map_node.h 第 73 行定义.

{ return is_reserved_; }

GetLeftTopCorner() [1/2]

const Eigen::Vector2d & apollo::localization::msf::BaseMapNode::GetLeftTopCorner ( ) const

inline

Get the left top corner of the map node.

在文件 base_map_node.h 第 86 行定义.

                                                       {
    return left_top_corner_;
  }

GetLeftTopCorner() [2/2]

Eigen::Vector2d apollo::localization::msf::BaseMapNode::GetLeftTopCorner ( const BaseMapConfig &  option, const MapNodeIndex &  index  )

static

在文件 base_map_node.cc 第 415 行定义.

                                                                         {
  Eigen::Vector2d coord;
  coord[0] = config.map_range_.GetMinX() +
             static_cast<float>(config.map_node_size_x_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.n_);
  coord[1] = config.map_range_.GetMinY() +
             static_cast<float>(config.map_node_size_y_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.m_);
  DCHECK_LT(coord[0], config.map_range_.GetMaxX());
  DCHECK_LT(coord[1], config.map_range_.GetMaxY());
  return coord;
}

GetMapCellMatrix() [1/2]

BaseMapMatrix & apollo::localization::msf::BaseMapNode::GetMapCellMatrix ( )

inline

在文件 base_map_node.h 第 62 行定义.

{ return *map_matrix_; }

GetMapCellMatrix() [2/2]

const BaseMapMatrix & apollo::localization::msf::BaseMapNode::GetMapCellMatrix ( ) const

inline

Get map cell matrix.

在文件 base_map_node.h 第 60 行定义.

{ return *map_matrix_; }

GetMapConfig()

const BaseMapConfig & apollo::localization::msf::BaseMapNode::GetMapConfig ( ) const

inline

Get the map settings.

在文件 base_map_node.h 第 65 行定义.

{ return *map_config_; }

GetMapNodeIndex()

const MapNodeIndex & apollo::localization::msf::BaseMapNode::GetMapNodeIndex ( ) const

inline

Get the map node index.

在文件 base_map_node.h 第 69 行定义.

{ return index_; }

GetMapResolution()

float apollo::localization::msf::BaseMapNode::GetMapResolution ( ) const

inline

Get the resolution of this map nodex.

在文件 base_map_node.h 第 98 行定义.

                                        {
    return this->map_config_->map_resolutions_[this->index_.resolution_id_];
  }

Init()

void apollo::localization::msf::BaseMapNode::Init ( const BaseMapConfig *  map_config, const MapNodeIndex &  index, bool  create_map_cells = true  )

virtual

Initialize the map node.

Call this function first before use it!

在文件 base_map_node.cc 第 42 行定义.

                                                                         {
  map_config_ = map_config;
  index_ = index;
  left_top_corner_ = GetLeftTopCorner(*map_config_, index_);
  is_reserved_ = false;
  data_is_ready_ = false;
  is_changed_ = false;
  if (create_map_cells) {
    InitMapMatrix(map_config_);
  }
}

InitMapMatrix()

void apollo::localization::msf::BaseMapNode::InitMapMatrix ( const BaseMapConfig *  map_config )

virtual

Initialize the map matrix.

在文件 base_map_node.cc 第 55 行定义.

                                                               {
  map_config_ = map_config;
  map_matrix_->Init(map_config);
}

Load() [1/2]

bool apollo::localization::msf::BaseMapNode::Load

(

)

Load the map node from the disk.

在文件 base_map_node.cc 第 131 行定义.

                       {
  char buf[1024];
  std::string path = map_config_->map_folder_path_;
  if (!DirectoryExists(path)) {
    return false;
  }
  path = path + "/map";
  if (!DirectoryExists(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%03u", index_.resolution_id_);
  path = path + buf;
  if (!DirectoryExists(path)) {
    return false;
  }
  if (index_.zone_id_ > 0) {
    path = path + "/north";
  } else {
    path = path + "/south";
  }
  if (!DirectoryExists(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%02d", abs(index_.zone_id_));
  path = path + buf;
  if (!DirectoryExists(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u", index_.m_);
  path = path + buf;
  if (!DirectoryExists(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u", index_.n_);
  path = path + buf;
 
  return Load(path.c_str());
}

Load() [2/2]

bool apollo::localization::msf::BaseMapNode::Load

(

const char *

filename

)

在文件 base_map_node.cc 第 170 行定义.

                                           {
  data_is_ready_ = false;
  // char buf[1024];
 
  FILE* file = fopen(filename, "rb");
  if (file) {
    LoadBinary(file);
    fclose(file);
    is_changed_ = false;
    data_is_ready_ = true;
    return true;
  } else {
    AERROR << "Can't find the file: " << filename;
    return false;
  }
}

LoadBinary()

unsigned int apollo::localization::msf::BaseMapNode::LoadBinary ( FILE *  file )

protectedvirtual

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

在文件 base_map_node.cc 第 187 行定义.

                                               {
  // Load the header
  unsigned int header_size = GetHeaderBinarySize();
  std::vector<unsigned char> buf(header_size);
  size_t read_size = fread(&buf[0], 1, header_size, file);
  CHECK_EQ(read_size, header_size);
  unsigned int processed_size = LoadHeaderBinary(&buf[0]);
  CHECK_EQ(processed_size, header_size);
 
  // Load the body
  buf.resize(file_body_binary_size_);
  read_size = fread(&buf[0], 1, file_body_binary_size_, file);
  CHECK_EQ(read_size, file_body_binary_size_);
  processed_size += LoadBodyBinary(&buf);
  return processed_size;
}

LoadBodyBinary()

unsigned int apollo::localization::msf::BaseMapNode::LoadBodyBinary ( std::vector< unsigned char > *  buf )

protectedvirtual

Load the map node body from a binary chunk.

参数

<return>

The size read (the real size of body).

在文件 base_map_node.cc 第 294 行定义.

                                                                      {
  if (compression_strategy_ == nullptr) {
    return map_matrix_->LoadBinary(&((*buf)[0]));
  }
  std::vector<unsigned char> buf_uncompressed;
  int ret = compression_strategy_->Decode(buf, &buf_uncompressed);
  if (ret < 0) {
    AERROR << "compression Decode error: " << ret;
    return 0;
  }
  AERROR << "map node compress ratio: "
         << static_cast<float>(buf->size()) /
                static_cast<float>(buf_uncompressed.size());
  return map_matrix_->LoadBinary(&buf_uncompressed[0]);
}

LoadHeaderBinary()

unsigned int apollo::localization::msf::BaseMapNode::LoadHeaderBinary ( unsigned char *  buf )

protectedvirtual

Load the map node header from a binary chunk.

参数

<return>

The size read (the real size of header).

在文件 base_map_node.cc 第 235 行定义.

                                                             {
  unsigned int target_size = GetHeaderBinarySize();
  unsigned int* p = reinterpret_cast<unsigned int*>(buf);
  index_.resolution_id_ = *p;
  ++p;
  int* pp = reinterpret_cast<int*>(p);
  index_.zone_id_ = *pp;
  ++pp;
  p = reinterpret_cast<unsigned int*>(pp);
  index_.m_ = *p;
  ++p;
  index_.n_ = *p;
  ++p;
  // left_top_corner_ = GetLeftTopCorner(*map_config_, index_);
  left_top_corner_ = GetLeftTopCorner(*map_config_, index_);
  file_body_binary_size_ = *p;
  return target_size;
}

ResetMapNode()

void apollo::localization::msf::BaseMapNode::ResetMapNode ( )

virtual

Reset map cells data.

在文件 base_map_node.cc 第 67 行定义.

                               {
  is_changed_ = false;
  data_is_ready_ = false;
  is_reserved_ = false;
  map_matrix_->Reset(map_config_);
}

Save()

bool apollo::localization::msf::BaseMapNode::Save

(

)

Save the map node to the disk.

在文件 base_map_node.cc 第 80 行定义.

                       {
  SaveIntensityImage();
  char buf[1024];
  std::string path = map_config_->map_folder_path_;
  if (!EnsureDirectory(path)) {
    return false;
  }
  path = path + "/map";
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%03u", index_.resolution_id_);
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  if (index_.zone_id_ > 0) {
    path = path + "/north";
  } else {
    path = path + "/south";
  }
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%02d", abs(index_.zone_id_));
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u", index_.m_);
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u", index_.n_);
  path = path + buf;
 
  AINFO << "Save node: " << path;
 
  FILE* file = fopen(path.c_str(), "wb");
  if (file) {
    CreateBinary(file);
    fclose(file);
    is_changed_ = false;
    return true;
  } else {
    AERROR << "Can't write to file: " << path << ".";
    return false;
  }
}

SaveIntensityImage() [1/2]

bool apollo::localization::msf::BaseMapNode::SaveIntensityImage

(

)

const

Save intensity image of node.

在文件 base_map_node.cc 第 431 行定义.

                                           {
  char buf[1024];
  std::string path = map_config_->map_folder_path_;
  if (!EnsureDirectory(path)) {
    return false;
  }
  path = path + "/image";
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%03u", index_.resolution_id_);
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  if (index_.zone_id_ > 0) {
    path = path + "/north";
  } else {
    path = path + "/south";
  }
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%02d", abs(index_.zone_id_));
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u", index_.m_);
  path = path + buf;
  if (!EnsureDirectory(path)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08u.png", index_.n_);
  path = path + buf;
  bool success0 = SaveIntensityImage(path);
  return success0;
}

SaveIntensityImage() [2/2]

bool apollo::localization::msf::BaseMapNode::SaveIntensityImage ( const std::string &  path ) const

protected

Save intensity image of node.

在文件 base_map_node.cc 第 470 行定义.

                                                                {
  cv::Mat image;
  map_matrix_->GetIntensityImg(&image);
  bool success = cv::imwrite(path, image);
  return success;
}

SetIsChanged()

void apollo::localization::msf::BaseMapNode::SetIsChanged ( bool  is )

inline

Set if the map node data has changed.

在文件 base_map_node.h 第 77 行定义.

{ is_changed_ = is; }

SetIsReserved()

void apollo::localization::msf::BaseMapNode::SetIsReserved ( bool  is_reserved )

inline

Set if the map node is reserved.

在文件 base_map_node.h 第 71 行定义.

{ is_reserved_ = is_reserved; }

SetLeftTopCorner()

void apollo::localization::msf::BaseMapNode::SetLeftTopCorner ( double  x, double  y  )

inline

在文件 base_map_node.h 第 90 行定义.

                                                   {
    // left_top_corner_[0] = x;
    // left_top_corner_[1] = y;
 
    left_top_corner_[0] = x;
    left_top_corner_[1] = y;
  }

SetMapNodeIndex()

void apollo::localization::msf::BaseMapNode::SetMapNodeIndex ( const MapNodeIndex &  index )

inline

Set the map node index.

在文件 base_map_node.h 第 67 行定义.

{ index_ = index; }

类成员变量说明

compression_strategy_

CompressionStrategy* apollo::localization::msf::BaseMapNode::compression_strategy_ = nullptr

protected

@bried The compression strategy.

在文件 base_map_node.h 第 189 行定义.

data_is_ready_

bool apollo::localization::msf::BaseMapNode::data_is_ready_ = false

protected

在文件 base_map_node.h 第 184 行定义.

file_body_binary_size_

unsigned int apollo::localization::msf::BaseMapNode::file_body_binary_size_ = 0

mutableprotected

The body binary size in file.

It's useful when reading and writing files.

在文件 base_map_node.h 第 187 行定义.

index_

MapNodeIndex apollo::localization::msf::BaseMapNode::index_

protected

The index of this node.

在文件 base_map_node.h 第 172 行定义.

is_changed_

bool apollo::localization::msf::BaseMapNode::is_changed_ = false

protected

Has the map node been changed.

在文件 base_map_node.h 第 182 行定义.

is_reserved_

bool apollo::localization::msf::BaseMapNode::is_reserved_ = false

protected

If the node is reserved in map.

在文件 base_map_node.h 第 180 行定义.

left_top_corner_

Eigen::Vector2d apollo::localization::msf::BaseMapNode::left_top_corner_

protected

The left top corner of the map node in the global coordinate system.

在文件 base_map_node.h 第 176 行定义.

map_config_

const BaseMapConfig* apollo::localization::msf::BaseMapNode::map_config_ = nullptr

protected

The map settings.

在文件 base_map_node.h 第 170 行定义.

map_matrix_

BaseMapMatrix* apollo::localization::msf::BaseMapNode::map_matrix_

protected

The data structure of the map datas, which is a matrix.

在文件 base_map_node.h 第 178 行定义.

min_altitude_

float apollo::localization::msf::BaseMapNode::min_altitude_ = 1e6

protected

The min altitude of point cloud in the node.

在文件 base_map_node.h 第 191 行定义.

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该类的文档由以下文件生成:

• modules/localization/msf/local_map/base_map/base_map_node.h
• modules/localization/msf/local_map/base_map/base_map_node.cc