apollo::localization::msf::LosslessMapMatrix类 参考

#include <lossless_map_matrix.h>

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

apollo::localization::msf::LosslessMapMatrix 的协作图:

Public 成员函数
	LosslessMapMatrix ()
	~LosslessMapMatrix ()
	LosslessMapMatrix (const LosslessMapMatrix &matrix)
virtual void	Init (const BaseMapConfig *config)
	Initialize the map matrix.
virtual void	Reset (const BaseMapConfig *config)
	Reset map cells data.
void	Init (unsigned int rows, unsigned int cols)
void	Reset (unsigned int rows, unsigned int cols)
virtual unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk.
virtual unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary.
virtual unsigned int	GetBinarySize () const
	Get the binary size of the object.
virtual void	GetIntensityImg (cv::Mat *intensity_img) const
	get intensity image of node.
const LosslessMapCell &	GetMapCell (unsigned int row, unsigned int col) const
	Get a map cell.
LosslessMapCell &	GetMapCell (unsigned int row, unsigned int col)
	Get a map cell.
LosslessMapCell *	operator[] (int row)
const LosslessMapCell *	operator[] (int row) const
Public 成员函数 继承自 apollo::localization::msf::BaseMapMatrix
	BaseMapMatrix ()
	The default constructor.
virtual	~BaseMapMatrix ()
	The deconstructor.
	BaseMapMatrix (const BaseMapMatrix &cell)
	The copy constructor.

Protected 属性
unsigned int	rows_
	The number of rows.
unsigned int	cols_
	The number of columns.
LosslessMapCell *	map_cells_
	The matrix data structure.

详细描述

在文件 lossless_map_matrix.h 第 143 行定义.

构造及析构函数说明

LosslessMapMatrix() [1/2]

apollo::localization::msf::LosslessMapMatrix::LosslessMapMatrix

(

)

在文件 lossless_map_matrix.cc 第 261 行定义.

                                     {
  rows_ = 0;
  cols_ = 0;
  map_cells_ = nullptr;
}

~LosslessMapMatrix()

apollo::localization::msf::LosslessMapMatrix::~LosslessMapMatrix

(

)

在文件 lossless_map_matrix.cc 第 267 行定义.

                                      {
  if (map_cells_) {
    delete[] map_cells_;
  }
  rows_ = 0;
  cols_ = 0;
}

LosslessMapMatrix() [2/2]

apollo::localization::msf::LosslessMapMatrix::LosslessMapMatrix

(

const LosslessMapMatrix &

matrix

)

在文件 lossless_map_matrix.cc 第 275 行定义.

    : BaseMapMatrix(matrix) {
  Init(matrix.rows_, matrix.cols_);
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      map_cells_[y * cols_ + x] = matrix[y][x];
    }
  }
}

成员函数说明

CreateBinary()

unsigned int apollo::localization::msf::LosslessMapMatrix::CreateBinary ( unsigned char *  buf, unsigned int  buf_size  ) const

virtual

Create the binary.

Serialization of the object.

参数

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

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 334 行定义.

                                                                          {
  unsigned int target_size = GetBinarySize();
  if (buf_size >= target_size) {
    unsigned int* p = reinterpret_cast<unsigned int*>(buf);
    *p = rows_;
    ++p;
    *p = cols_;
    ++p;
    buf_size -= static_cast<unsigned int>(sizeof(unsigned int) * 2);
    unsigned char* pp = reinterpret_cast<unsigned char*>(p);
    for (unsigned int y = 0; y < rows_; ++y) {
      for (unsigned int x = 0; x < cols_; ++x) {
        const LosslessMapCell& cell = GetMapCell(y, x);
        unsigned int processed_size = cell.CreateBinary(pp, buf_size);
        DCHECK_GE(buf_size, processed_size);
        buf_size -= processed_size;
        pp += processed_size;
      }
    }
  }
  return target_size;
}

GetBinarySize()

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

virtual

Get the binary size of the object.

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 358 行定义.

                                                    {
  // default binary size
  unsigned int target_size =
      static_cast<unsigned int>(sizeof(unsigned int) * 2);  // rows and cols
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      const LosslessMapCell& cell = GetMapCell(y, x);
      target_size += cell.GetBinarySize();
    }
  }
  return target_size;
}

GetIntensityImg()

void apollo::localization::msf::LosslessMapMatrix::GetIntensityImg ( cv::Mat *  intensity_img ) const

virtual

get intensity image of node.

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 371 行定义.

                                                                  {
  *intensity_img = cv::Mat(cv::Size(cols_, rows_), CV_8UC1);
 
  for (uint32_t y = 0; y < rows_; ++y) {
    for (uint32_t x = 0; x < cols_; ++x) {
      intensity_img->at<unsigned char>(y, x) = GetMapCell(y, x).GetValue();
    }
  }
}

GetMapCell() [1/2]

LosslessMapCell & apollo::localization::msf::LosslessMapMatrix::GetMapCell ( unsigned int  row, unsigned int  col  )

inline

Get a map cell.

在文件 lossless_map_matrix.h 第 179 行定义.

                                                                         {
    DCHECK_LT(row, rows_);
    DCHECK_LT(col, cols_);
    return map_cells_[row * cols_ + col];
  }

GetMapCell() [2/2]

const LosslessMapCell & apollo::localization::msf::LosslessMapMatrix::GetMapCell ( unsigned int  row, unsigned int  col  ) const

inline

Get a map cell.

在文件 lossless_map_matrix.h 第 172 行定义.

                                                                   {
    DCHECK_LT(row, rows_);
    DCHECK_LT(col, cols_);
    return map_cells_[row * cols_ + col];
  }

Init() [1/2]

void apollo::localization::msf::LosslessMapMatrix::Init ( const BaseMapConfig *  config )

virtual

Initialize the map matrix.

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 285 行定义.

                                                        {
  unsigned int rows = config->map_node_size_y_;
  unsigned int cols = config->map_node_size_x_;
  if (rows_ == rows && cols_ == cols) {
    return;
  }
  Init(rows, cols);
}

Init() [2/2]

void apollo::localization::msf::LosslessMapMatrix::Init	(	unsigned int	rows,
		unsigned int	cols
	)

在文件 lossless_map_matrix.cc 第 298 行定义.

                                                                 {
  if (map_cells_) {
    delete[] map_cells_;
    map_cells_ = nullptr;
  }
  map_cells_ = new LosslessMapCell[rows * cols];
  rows_ = rows;
  cols_ = cols;
}

LoadBinary()

unsigned int apollo::localization::msf::LosslessMapMatrix::LoadBinary ( unsigned char *  buf )

virtual

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 315 行定义.

                                                             {
  unsigned int* p = reinterpret_cast<unsigned int*>(buf);
  rows_ = *p;
  ++p;
  cols_ = *p;
  ++p;
  Init(rows_, cols_);
 
  unsigned char* pp = reinterpret_cast<unsigned char*>(p);
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      LosslessMapCell& cell = GetMapCell(y, x);
      unsigned int processed_size = cell.LoadBinary(pp);
      pp += processed_size;
    }
  }
  return GetBinarySize();
}

operator[]() [1/2]

LosslessMapCell * apollo::localization::msf::LosslessMapMatrix::operator[] ( int  row )

inline

在文件 lossless_map_matrix.h 第 185 行定义.

                                              {
    return map_cells_ + row * cols_;
  }

operator[]() [2/2]

const LosslessMapCell * apollo::localization::msf::LosslessMapMatrix::operator[] ( int  row ) const

inline

在文件 lossless_map_matrix.h 第 188 行定义.

                                                          {
    return map_cells_ + row * cols_;
  }

Reset() [1/2]

void apollo::localization::msf::LosslessMapMatrix::Reset ( const BaseMapConfig *  config )

virtual

Reset map cells data.

实现了 apollo::localization::msf::BaseMapMatrix.

在文件 lossless_map_matrix.cc 第 294 行定义.

                                                         {
  Reset(config->map_node_size_y_, config->map_node_size_x_);
}

Reset() [2/2]

void apollo::localization::msf::LosslessMapMatrix::Reset	(	unsigned int	rows,
		unsigned int	cols
	)

在文件 lossless_map_matrix.cc 第 308 行定义.

                                                                  {
  unsigned int length = rows * cols;
  for (unsigned int i = 0; i < length; ++i) {
    map_cells_[i].Reset();
  }
}

类成员变量说明

cols_

unsigned int apollo::localization::msf::LosslessMapMatrix::cols_

protected

The number of columns.

在文件 lossless_map_matrix.h 第 196 行定义.

map_cells_

LosslessMapCell* apollo::localization::msf::LosslessMapMatrix::map_cells_

protected

The matrix data structure.

在文件 lossless_map_matrix.h 第 198 行定义.

rows_

unsigned int apollo::localization::msf::LosslessMapMatrix::rows_

protected

The number of rows.

在文件 lossless_map_matrix.h 第 194 行定义.

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该类的文档由以下文件生成:

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