The options of the reflectance map. 更多...

#include <lossless_map_config.h>

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

apollo::localization::msf::LosslessMapConfig 的协作图:

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

	~LosslessMapConfig ()

Public 成员函数继承自 apollo::localization::msf::BaseMapConfig
	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
float	map_layer_alt_thres_
	The threshold to split more layers in the map node.

unsigned int	map_cache_size_
	When load map nodes, the maximum number of map nodes will be kept in memory.

std::string	coordinate_type_
	coordinate type.

float	max_intensity_value_
	During the visualization (for example, call the function get_image() of map node layer), the maximum intensity value in the image.

float	max_intensity_var_value_
	During the visualization (for example, call the function get_image() of map node layer), the maximum intensity variance value in the image.

Public 属性继承自 apollo::localization::msf::BaseMapConfig
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 lossless_map_config.h 第 28 行定义.

构造及析构函数说明

◆ LosslessMapConfig()

apollo::localization::msf::LosslessMapConfig::LosslessMapConfig ( std::string map_version = "lossless_map" )

explicit

The constructor gives the default map settings.

在文件 lossless_map_config.cc 第 23 行定义.

    : BaseMapConfig(map_version) {
  map_layer_alt_thres_ = 10000.0;  // in meters
  map_cache_size_ = 50;            // 80
  coordinate_type_ = "UTM";
  max_intensity_value_ = 255.0;
  max_intensity_var_value_ = 1000.0;
  map_is_compression_ = true;
  map_ground_height_offset_ = 1.7f;  // Set the initial value here.
}

◆ ~LosslessMapConfig()

apollo::localization::msf::LosslessMapConfig::~LosslessMapConfig ( )

inline

在文件 lossless_map_config.h 第 32 行定义.

32{}

成员函数说明

◆ CreateXml()

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

protectedvirtual

Create the XML structure.

重载 apollo::localization::msf::BaseMapConfig .

在文件 lossless_map_config.cc 第 34 行定义.

                                                                       {
  BaseMapConfig::CreateXml(config);
  config->put("map.map_config.coordinate_type", coordinate_type_);
  config->put("map.map_runtime.layer_alt_thres", map_layer_alt_thres_);
  config->put("map.map_runtime.cache_size", map_cache_size_);
  config->put("map.map_runtime.max_intensity_value", max_intensity_value_);
  config->put("map.map_runtime.max_intensity_var_value",
              max_intensity_var_value_);
}

◆ LoadXml()

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

protectedvirtual

Load the map options from a XML structure.

重载 apollo::localization::msf::BaseMapConfig .

在文件 lossless_map_config.cc 第 44 行定义.

                                                                     {
  BaseMapConfig::LoadXml(config);
  coordinate_type_ = config.get<std::string>("map.map_config.coordinate_type");
  map_layer_alt_thres_ = config.get<float>("map.map_runtime.layer_alt_thres");
  map_cache_size_ = config.get<unsigned int>("map.map_runtime.cache_size");
  max_intensity_value_ =
      config.get<float>("map.map_runtime.max_intensity_value");
  max_intensity_var_value_ =
      config.get<float>("map.map_runtime.max_intensity_var_value");
}

类成员变量说明

◆ coordinate_type_

std::string apollo::localization::msf::LosslessMapConfig::coordinate_type_

coordinate type.

在文件 lossless_map_config.h 第 40 行定义.

◆ map_cache_size_

unsigned int apollo::localization::msf::LosslessMapConfig::map_cache_size_

When load map nodes, the maximum number of map nodes will be kept in memory.

在文件 lossless_map_config.h 第 38 行定义.

◆ map_layer_alt_thres_

float apollo::localization::msf::LosslessMapConfig::map_layer_alt_thres_

The threshold to split more layers in the map node.

在文件 lossless_map_config.h 第 35 行定义.

◆ max_intensity_value_

float apollo::localization::msf::LosslessMapConfig::max_intensity_value_

During the visualization (for example, call the function get_image() of map node layer), the maximum intensity value in the image.

在文件 lossless_map_config.h 第 44 行定义.

◆ max_intensity_var_value_

float apollo::localization::msf::LosslessMapConfig::max_intensity_var_value_

During the visualization (for example, call the function get_image() of map node layer), the maximum intensity variance value in the image.

在文件 lossless_map_config.h 第 47 行定义.

该类的文档由以下文件生成:

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

Public 成员函数

Public 属性

Protected 成员函数