#include <lossless_map.h>

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

apollo::localization::msf::LosslessMap 的协作图:

Public 成员函数
	LosslessMap (LosslessMapConfig *config)

	~LosslessMap ()

void	SetValue (const Eigen::Vector3d &coordinate, int zone_id, unsigned char intensity)
	Set the value of a pixel in the map, including all the resolution levels.

void	SetValueLayer (const Eigen::Vector3d &coordinate, int zone_id, unsigned char intensity)
	Set the vlaue of a pixel in a layer in the map node.

void	GetValue (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< unsigned char > *values)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

void	GetValueSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< unsigned char > *values)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

void	GetVar (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *vars)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

void	GetVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *vars)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

void	GetAlt (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *alts)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

void	GetAltSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *alts)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

void	GetAltVar (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *alt_vars)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

void	GetAltVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< float > *alt_vars)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

void	GetCount (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< unsigned int > *counts)
	Get the number of samples in the map cell.

void	GetCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, std::vector< unsigned int > *counts)
	Get the number of samples in the map cell thread safely.

unsigned char	GetValue (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

unsigned char	GetValueSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

float	GetVar (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

float	GetVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

float	GetAlt (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

float	GetAltSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

float	GetAltVar (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

float	GetAltVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

unsigned int	GetCount (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Get the number of samples in the map cell.

unsigned int	GetCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id)
	Get the number of samples in the map cell thread safely.

void	SetGroundHeightOffset (double height_offset)
	Set the ground height offset.

virtual void	PreloadMapArea (const Eigen::Vector3d &location, const Eigen::Vector3d &trans_diff, unsigned int resolution_id, unsigned int zone_id)
	Preload map nodes for the next frame location calculation.

virtual bool	LoadMapArea (const Eigen::Vector3d &seed_pt3d, unsigned int resolution_id, unsigned int zone_id, int filter_size_x, int filter_size_y)
	Load map nodes for the location calculate of this frame.

Public 成员函数继承自 apollo::localization::msf::BaseMap
	BaseMap (BaseMapConfig *map_config)
	The constructor.

virtual	~BaseMap ()
	The destructor.

virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)
	Init load threadpool and preload threadpool.

BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Get the map node, if it's not in the cache, return false.

BaseMapNode *	GetMapNodeSafe (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, safely load it.

bool	IsMapNodeExist (const MapNodeIndex &index) const
	Check if the map node in the cache.

bool	SetMapFolderPath (const std::string folder_path)
	Set the directory of the map.

void	AddDataset (const std::string dataset_path)
	Add a dataset path to the map config.

void	AttachMapNodePool (BaseMapNodePool *p_map_node_pool)
	Attach map node pointer.

void	WriteBinary (FILE *file)
	Write all the map nodes to a single binary file stream.

void	LoadBinary (FILE *file, std::string map_folder_path="")
	Load all the map nodes from a single binary file stream.

const BaseMapConfig &	GetConfig () const
	Get the map config.

BaseMapConfig &	GetConfig ()
	Get the map config.

额外继承的成员函数
Protected 成员函数继承自 apollo::localization::msf::BaseMap
void	LoadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.

void	PreloadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.

void	LoadMapNodeThreadSafety (MapNodeIndex index, bool is_reserved=false)
	Load map node by index, thread_safety.

Protected 属性继承自 apollo::localization::msf::BaseMap
BaseMapConfig *	map_config_
	The map settings.

std::list< MapNodeIndex >	map_nodes_disk_
	All the map nodes in the Map (in the disk).

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_

MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl1_
	The cache for map node preload.

MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl2_
	brief The dynamic map node preloading thread pool pointer.

BaseMapNodePool *	map_node_pool_
	The map node memory pool pointer.

std::set< MapNodeIndex >	map_preloading_task_index_
	@bried Keep the index of preloading nodes.

boost::recursive_mutex	map_load_mutex_
	The mutex for preload map node.

详细描述

在文件 lossless_map.h 第 28 行定义.

构造及析构函数说明

◆ LosslessMap()

apollo::localization::msf::LosslessMap::LosslessMap ( LosslessMapConfig * config )

explicit

在文件 lossless_map.cc 第 25 行定义.

25: BaseMap(config) {}

apollo::localization::msf::BaseMap::BaseMap

BaseMap(BaseMapConfig *map_config)

The constructor.

Definition base_map.cc:29

◆ ~LosslessMap()

apollo::localization::msf::LosslessMap::~LosslessMap ( )

在文件 lossless_map.cc 第 27 行定义.

27{}

成员函数说明

◆ GetAlt() [1/2]

float apollo::localization::msf::LosslessMap::GetAlt	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

在文件 lossless_map.cc 第 186 行定义.

                                                      {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  return node->GetAlt(coordinate);
}

◆ GetAlt() [2/2]

void apollo::localization::msf::LosslessMap::GetAlt	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	alts
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 90 行定义.

                                                                             {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  node->GetAlt(coordinate, alts);
}

◆ GetAltSafe() [1/2]

float apollo::localization::msf::LosslessMap::GetAltSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

在文件 lossless_map.cc 第 195 行定义.

                                                          {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  return node->GetAlt(coordinate);
}

◆ GetAltSafe() [2/2]

void apollo::localization::msf::LosslessMap::GetAltSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	alts
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 99 行定义.

                                                     {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  node->GetAlt(coordinate, alts);
}

◆ GetAltVar() [1/2]

float apollo::localization::msf::LosslessMap::GetAltVar	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

在文件 lossless_map.cc 第 204 行定义.

                                                         {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  return node->GetAltVar(coordinate);
}

◆ GetAltVar() [2/2]

void apollo::localization::msf::LosslessMap::GetAltVar	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	alt_vars
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 109 行定义.

                                                        {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  node->GetAltVar(coordinate, alt_vars);
}

◆ GetAltVarSafe() [1/2]

float apollo::localization::msf::LosslessMap::GetAltVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

在文件 lossless_map.cc 第 213 行定义.

                                                             {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  return node->GetAltVar(coordinate);
}

◆ GetAltVarSafe() [2/2]

void apollo::localization::msf::LosslessMap::GetAltVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	alt_vars
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 119 行定义.

                                                            {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  node->GetAltVar(coordinate, alt_vars);
}

◆ GetCount() [1/2]

unsigned int apollo::localization::msf::LosslessMap::GetCount	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Get the number of samples in the map cell.

在文件 lossless_map.cc 第 222 行定义.

                                                                            {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  return node->GetCount(coordinate);
}

◆ GetCount() [2/2]

void apollo::localization::msf::LosslessMap::GetCount	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< unsigned int > *	counts
	)

Get the number of samples in the map cell.

在文件 lossless_map.cc 第 129 行定义.

                                                            {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  node->GetCount(coordinate, counts);
}

◆ GetCountSafe() [1/2]

unsigned int apollo::localization::msf::LosslessMap::GetCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Get the number of samples in the map cell thread safely.

在文件 lossless_map.cc 第 231 行定义.

                                                                   {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  return node->GetCount(coordinate);
}

◆ GetCountSafe() [2/2]

void apollo::localization::msf::LosslessMap::GetCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< unsigned int > *	counts
	)

Get the number of samples in the map cell thread safely.

在文件 lossless_map.cc 第 139 行定义.

                                                                {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  node->GetCount(coordinate, counts);
}

◆ GetValue() [1/2]

unsigned char apollo::localization::msf::LosslessMap::GetValue	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

在文件 lossless_map.cc 第 149 行定义.

                                                                             {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  return node->GetValue(coordinate);
}

◆ GetValue() [2/2]

void apollo::localization::msf::LosslessMap::GetValue	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< unsigned char > *	values
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 51 行定义.

                                                             {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  node->GetValue(coordinate, values);
}

◆ GetValueSafe() [1/2]

unsigned char apollo::localization::msf::LosslessMap::GetValueSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

在文件 lossless_map.cc 第 158 行定义.

                                                                    {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  return node->GetValue(coordinate);
}

◆ GetValueSafe() [2/2]

void apollo::localization::msf::LosslessMap::GetValueSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< unsigned char > *	values
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 61 行定义.

                                                                 {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  node->GetValue(coordinate, values);
}

◆ GetVar() [1/2]

float apollo::localization::msf::LosslessMap::GetVar	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

在文件 lossless_map.cc 第 168 行定义.

                                                      {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  return node->GetVar(coordinate);
}

◆ GetVar() [2/2]

void apollo::localization::msf::LosslessMap::GetVar	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	vars
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 71 行定义.

                                                                             {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNode(index));
  node->GetVar(coordinate, vars);
}

◆ GetVarSafe() [1/2]

float apollo::localization::msf::LosslessMap::GetVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

在文件 lossless_map.cc 第 177 行定义.

                                                          {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  return node->GetVar(coordinate);
}

◆ GetVarSafe() [2/2]

void apollo::localization::msf::LosslessMap::GetVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		std::vector< float > *	vars
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return the value, if necessary.

This function returns the value of each layer in the map cell.

在文件 lossless_map.cc 第 80 行定义.

                                                     {
  DCHECK_LT(resolution_id, map_config_->map_resolutions_.size());
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(*map_config_, coordinate,
                                                     resolution_id, zone_id);
  LosslessMapNode* node = static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
  node->GetVar(coordinate, vars);
}

◆ LoadMapArea()

bool apollo::localization::msf::LosslessMap::LoadMapArea	(	const Eigen::Vector3d &	seed_pt3d,
		unsigned int	resolution_id,
		unsigned int	zone_id,
		int	filter_size_x,
		int	filter_size_y
	)

virtual

Load map nodes for the location calculate of this frame.

If the forecasts are correct in last frame, these nodes will be all in cache, if not, then need to create loading tasks, and wait for the loading finish, in order to the nodes which the following calculate needed are all in the memory, eigen version.

重载 apollo::localization::msf::BaseMap .

在文件 lossless_map.cc 第 248 行定义.

                                                                    {
  BaseMap::LoadMapArea(seed_pt3d, resolution_id, zone_id, filter_size_x,
                       filter_size_y);
  return true;
}

◆ PreloadMapArea()

void apollo::localization::msf::LosslessMap::PreloadMapArea	(	const Eigen::Vector3d &	location,
		const Eigen::Vector3d &	trans_diff,
		unsigned int	resolution_id,
		unsigned int	zone_id
	)

virtual

Preload map nodes for the next frame location calculation.

It will forecasts the nodes by the direction of the car moving. Because the progress of loading will cost a long time (over 100ms), it must do this for a period of time in advance. After the index of nodes calculate finished, it will create loading tasks, but will not wait for the loading finished, eigen version.

重载 apollo::localization::msf::BaseMap .

在文件 lossless_map.cc 第 241 行定义.

                                                       {
  BaseMap::PreloadMapArea(location, trans_diff, resolution_id, zone_id);
}

◆ SetGroundHeightOffset()

void apollo::localization::msf::LosslessMap::SetGroundHeightOffset ( double height_offset )

Set the ground height offset.

◆ SetValue()

void apollo::localization::msf::LosslessMap::SetValue	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned char	intensity
	)

Set the value of a pixel in the map, including all the resolution levels.

参数

<coordinate>	The 3D global coordinate.
<intensity>	The reflectance intensity.

在文件 lossless_map.cc 第 29 行定义.

                                                    {
  for (size_t i = 0; i < map_config_->map_resolutions_.size(); ++i) {
    MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(
        *map_config_, coordinate, static_cast<unsigned int>(i), zone_id);
    LosslessMapNode* node =
        static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
    node->SetValue(coordinate, intensity);
  }
}

◆ SetValueLayer()

void apollo::localization::msf::LosslessMap::SetValueLayer	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned char	intensity
	)

Set the vlaue of a pixel in a layer in the map node.

参数

<coordinate>	The 3D global coordinate. The z is used as the altitude for the layer match.
<intensity>	The reflectance intensity.

在文件 lossless_map.cc 第 40 行定义.

                                                         {
  for (size_t i = 0; i < map_config_->map_resolutions_.size(); ++i) {
    MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(
        *map_config_, coordinate, static_cast<unsigned int>(i), zone_id);
    LosslessMapNode* node =
        static_cast<LosslessMapNode*>(GetMapNodeSafe(index));
    node->SetValueLayer(coordinate, intensity);
  }
}

该类的文档由以下文件生成:

modules/localization/msf/local_map/lossless_map/lossless_map.h
modules/localization/msf/local_map/lossless_map/lossless_map.cc

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ LosslessMap()

◆ ~LosslessMap()

成员函数说明

◆ GetAlt() [1/2]

◆ GetAlt() [2/2]

◆ GetAltSafe() [1/2]

◆ GetAltSafe() [2/2]

◆ GetAltVar() [1/2]

◆ GetAltVar() [2/2]

◆ GetAltVarSafe() [1/2]

◆ GetAltVarSafe() [2/2]

◆ GetCount() [1/2]

◆ GetCount() [2/2]

◆ GetCountSafe() [1/2]

◆ GetCountSafe() [2/2]

◆ GetValue() [1/2]

◆ GetValue() [2/2]

◆ GetValueSafe() [1/2]

◆ GetValueSafe() [2/2]

◆ GetVar() [1/2]

◆ GetVar() [2/2]

◆ GetVarSafe() [1/2]

◆ GetVarSafe() [2/2]

◆ LoadMapArea()

◆ PreloadMapArea()

◆ SetGroundHeightOffset()

◆ SetValue()

◆ SetValueLayer()