apollo::localization::msf::LossyMapConfig2D类 参考

The options of the reflectance map. 更多...

#include <lossy_map_config_2d.h>

类 apollo::localization::msf::LossyMapConfig2D 继承关系图:

apollo::localization::msf::LossyMapConfig2D 的协作图:

Public 成员函数
	LossyMapConfig2D (std::string map_version="lossy_map")
	The constructor gives the default map settings.
	~LossyMapConfig2D ()
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.
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 lossy_map_config_2d.h 第 28 行定义.

构造及析构函数说明

LossyMapConfig2D()

apollo::localization::msf::LossyMapConfig2D::LossyMapConfig2D ( std::string  map_version = "lossy_map" )

explicit

The constructor gives the default map settings.

在文件 lossy_map_config_2d.cc 第 23 行定义.

    : BaseMapConfig(map_version) {
  map_layer_alt_thres_ = 10000.0;  // in meters
  map_cache_size_ = 50;            // 80
  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.
}

~LossyMapConfig2D()

apollo::localization::msf::LossyMapConfig2D::~LossyMapConfig2D ( )

inline

在文件 lossy_map_config_2d.h 第 32 行定义.

{}

成员函数说明

CreateXml()

void apollo::localization::msf::LossyMapConfig2D::CreateXml ( boost::property_tree::ptree *  config ) const

protectedvirtual

Create the XML structure.

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

在文件 lossy_map_config_2d.cc 第 33 行定义.

                                                                      {
  BaseMapConfig::CreateXml(config);
  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::LossyMapConfig2D::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 lossy_map_config_2d.cc 第 42 行定义.

                                                                    {
  BaseMapConfig::LoadXml(config);
  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

map_cache_size_

unsigned int apollo::localization::msf::LossyMapConfig2D::map_cache_size_

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

在文件 lossy_map_config_2d.h 第 38 行定义.

map_layer_alt_thres_

float apollo::localization::msf::LossyMapConfig2D::map_layer_alt_thres_

The threshold to split more layers in the map node.

在文件 lossy_map_config_2d.h 第 35 行定义.

max_intensity_value_

float apollo::localization::msf::LossyMapConfig2D::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 lossy_map_config_2d.h 第 42 行定义.

max_intensity_var_value_

float apollo::localization::msf::LossyMapConfig2D::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 lossy_map_config_2d.h 第 45 行定义.

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该类的文档由以下文件生成:

• modules/localization/msf/local_map/lossy_map/lossy_map_config_2d.h
• modules/localization/msf/local_map/lossy_map/lossy_map_config_2d.cc