apollo::localization::msf::LossyMapMatrix2D类 参考

#include <lossy_map_matrix_2d.h>

类 apollo::localization::msf::LossyMapMatrix2D 继承关系图:

apollo::localization::msf::LossyMapMatrix2D 的协作图:

Public 成员函数
	LossyMapMatrix2D ()
	~LossyMapMatrix2D ()
	LossyMapMatrix2D (const LossyMapMatrix2D &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.
LossyMapCell2D *	operator[] (int row)
const LossyMapCell2D *	operator[] (int row) const
LossyMapMatrix2D &	operator= (const LossyMapMatrix2D &matrix)
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 成员函数
unsigned char	EncodeIntensity (const LossyMapCell2D &cell) const
void	DecodeIntensity (unsigned char data, LossyMapCell2D *cell) const
uint16_t	EncodeVar (const LossyMapCell2D &cell) const
void	DecodeVar (uint16_t data, LossyMapCell2D *cell) const
uint16_t	EncodeAltitudeGround (const LossyMapCell2D &cell) const
void	DecodeAltitudeGround (uint16_t data, LossyMapCell2D *cell) const
uint16_t	EncodeAltitudeAvg (const LossyMapCell2D &cell) const
void	DecodeAltitudeAvg (uint16_t data, LossyMapCell2D *cell) const
unsigned char	EncodeCount (const LossyMapCell2D &cell) const
void	DecodeCount (unsigned char data, LossyMapCell2D *cell) const

Protected 属性
unsigned int	rows_
	The number of rows.
unsigned int	cols_
	The number of columns.
LossyMapCell2D *	map_cells_
	The matrix data structure.
const int	var_range_ = 1023
const int	var_ratio_ = 4
const float	alt_ground_interval_ = 0.04f
const uint16_t	ground_void_flag_ = 0xffff
const float	alt_avg_interval_ = 0.04f
const int	count_range_ = 2
float	alt_avg_min_
float	alt_avg_max_
float	alt_ground_min_
float	alt_ground_max_

详细描述

在文件 lossy_map_matrix_2d.h 第 59 行定义.

构造及析构函数说明

LossyMapMatrix2D() [1/2]

apollo::localization::msf::LossyMapMatrix2D::LossyMapMatrix2D

(

)

在文件 lossy_map_matrix_2d.cc 第 50 行定义.

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

~LossyMapMatrix2D()

apollo::localization::msf::LossyMapMatrix2D::~LossyMapMatrix2D

(

)

在文件 lossy_map_matrix_2d.cc 第 56 行定义.

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

LossyMapMatrix2D() [2/2]

apollo::localization::msf::LossyMapMatrix2D::LossyMapMatrix2D

(

const LossyMapMatrix2D &

matrix

)

在文件 lossy_map_matrix_2d.cc 第 64 行定义.

    : BaseMapMatrix(matrix), map_cells_(NULL) {
  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::LossyMapMatrix2D::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 lossy_map_matrix_2d.cc 第 306 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);
 
    float* pf = reinterpret_cast<float*>(reinterpret_cast<void*>(p));
    alt_avg_min_ = 1e8;
    alt_avg_max_ = -1e8;
    for (unsigned int y = 0; y < rows_; ++y) {
      for (unsigned int x = 0; x < cols_; ++x) {
        const LossyMapCell2D& cell = map_cells_[y * cols_ + x];
        if (cell.count == 0) {
          continue;
        }
        if (cell.altitude > alt_avg_max_) {
          alt_avg_max_ = cell.altitude;
        }
        if (cell.altitude < alt_avg_min_) {
          alt_avg_min_ = cell.altitude;
        }
      }
    }
    *pf = alt_avg_min_;
    ++pf;
    *pf = alt_avg_max_;
    ++pf;
    buf_size -= static_cast<unsigned int>(sizeof(float) * 2);
 
    alt_ground_min_ = 1e8;
    alt_ground_max_ = -1e8;
    for (unsigned int y = 0; y < rows_; ++y) {
      for (unsigned int x = 0; x < cols_; ++x) {
        const LossyMapCell2D& cell = map_cells_[y * cols_ + x];
        if (!cell.is_ground_useful) {
          continue;
        }
        if (cell.altitude_ground > alt_ground_max_) {
          alt_ground_max_ = cell.altitude_ground;
        }
        if (cell.altitude_ground < alt_ground_min_) {
          alt_ground_min_ = cell.altitude_ground;
        }
      }
    }
    *pf = alt_ground_min_;
    ++pf;
    *pf = alt_ground_max_;
    ++pf;
    buf_size -= static_cast<unsigned int>(sizeof(float) * 2);
 
    unsigned char* pp = reinterpret_cast<unsigned char*>(pf);
    // count
    for (unsigned int row = 0; row < rows_; ++row) {
      for (unsigned int col = 0; col < cols_; ++col) {
        pp[row * cols_ + col] = EncodeCount(map_cells_[row * cols_ + col]);
      }
    }
    pp += rows_ * cols_;
 
    // intensity
    for (unsigned int row = 0; row < rows_; ++row) {
      for (unsigned int col = 0; col < cols_; ++col) {
        pp[row * cols_ + col] = EncodeIntensity(map_cells_[row * cols_ + col]);
      }
    }
    pp += rows_ * cols_;
 
    // intensity_var
    unsigned char* pp_low = pp + rows_ * cols_;
    unsigned char* pp_high = pp;
    for (unsigned int row = 0; row < rows_; ++row) {
      for (unsigned int col = 0; col < cols_; ++col) {
        uint16_t var = EncodeVar(map_cells_[row * cols_ + col]);
        pp_high[row * cols_ + col] = static_cast<unsigned char>(var / 256);
        pp_low[row * cols_ + col] = static_cast<unsigned char>(var % 256);
      }
    }
    pp += 2 * rows_ * cols_;
 
    // altitude_avg
    pp_low = pp + rows_ * cols_;
    pp_high = pp;
    for (unsigned int row = 0; row < rows_; ++row) {
      for (unsigned int col = 0; col < cols_; ++col) {
        uint16_t altitude = 0.0;
        if (map_cells_[row * cols_ + col].count > 0) {
          altitude = EncodeAltitudeAvg(map_cells_[row * cols_ + col]);
        }
        pp_high[row * cols_ + col] = static_cast<unsigned char>(altitude / 256);
        pp_low[row * cols_ + col] = static_cast<unsigned char>(altitude % 256);
      }
    }
    pp += 2 * rows_ * cols_;
 
    // altitude_ground
    pp_low = pp + rows_ * cols_;
    pp_high = pp;
    for (unsigned int row = 0; row < rows_; ++row) {
      for (unsigned int col = 0; col < cols_; ++col) {
        uint16_t altitude = ground_void_flag_;
        if (map_cells_[row * cols_ + col].is_ground_useful) {
          altitude = EncodeAltitudeGround(map_cells_[row * cols_ + col]);
        }
        pp_high[row * cols_ + col] = static_cast<unsigned char>(altitude / 256);
        pp_low[row * cols_ + col] = static_cast<unsigned char>(altitude % 256);
      }
    }
    // TODO(Localization): remove this line
    // pp += 2 * rows_ * cols_;
  }
  return target_size;
}

DecodeAltitudeAvg()

void apollo::localization::msf::LossyMapMatrix2D::DecodeAltitudeAvg ( uint16_t  data, LossyMapCell2D *  cell  ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 186 行定义.

                                                                     {
  float ratio = data;
  cell->altitude = alt_avg_min_ + ratio * alt_avg_interval_;
}

DecodeAltitudeGround()

void apollo::localization::msf::LossyMapMatrix2D::DecodeAltitudeGround ( uint16_t  data, LossyMapCell2D *  cell  ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 167 行定义.

                                                                        {
  float ratio = data;
  cell->altitude_ground = alt_ground_min_ + ratio * alt_ground_interval_;
}

DecodeCount()

void apollo::localization::msf::LossyMapMatrix2D::DecodeCount ( unsigned char  data, LossyMapCell2D *  cell  ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 205 行定义.

                                                               {
  int count_exp = data;
  if (count_exp == 0) {
    cell->count = count_exp;
  } else {
    cell->count = 1 << (count_exp - 1);
  }
}

DecodeIntensity()

void apollo::localization::msf::LossyMapMatrix2D::DecodeIntensity ( unsigned char  data, LossyMapCell2D *  cell  ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 126 行定义.

                                                                   {
  cell->intensity = data;
}

DecodeVar()

void apollo::localization::msf::LossyMapMatrix2D::DecodeVar ( uint16_t  data, LossyMapCell2D *  cell  ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 146 行定义.

                                                                          {
  float var = data;
  var = static_cast<float>((static_cast<const float>(var_range_) / var - 1.0) /
                           static_cast<const float>(var_ratio_));
  cell->intensity_var = var * var;
}

EncodeAltitudeAvg()

uint16_t apollo::localization::msf::LossyMapMatrix2D::EncodeAltitudeAvg ( const LossyMapCell2D &  cell ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 173 行定义.

                                                                             {
  float delta_alt = cell.altitude - alt_avg_min_;
  delta_alt /= alt_avg_interval_;
  int ratio = static_cast<int>(delta_alt + 0.5);
  if (ratio > 0xffff) {
    ratio = 0xffff;
  }
  if (ratio < 0) {
    ratio = 0;
  }
  return static_cast<uint16_t>(ratio);
}

EncodeAltitudeGround()

uint16_t apollo::localization::msf::LossyMapMatrix2D::EncodeAltitudeGround ( const LossyMapCell2D &  cell ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 153 行定义.

                                      {
  float delta_alt = cell.altitude_ground - alt_ground_min_;
  delta_alt /= alt_ground_interval_;
  int ratio = static_cast<int>(delta_alt + 0.5);
  if (ratio >= ground_void_flag_) {
    ratio = ground_void_flag_ - 1;
  }
  if (ratio < 0) {
    ratio = 0;
  }
  return static_cast<uint16_t>(ratio);
}

EncodeCount()

unsigned char apollo::localization::msf::LossyMapMatrix2D::EncodeCount ( const LossyMapCell2D &  cell ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 192 行定义.

                                                                            {
  int count_exp = 0;
  int count_tmp = cell.count;
  while (count_tmp > 0) {
    ++count_exp;
    count_tmp /= 2;
  }
  if (count_exp > count_range_) {
    count_exp = count_range_;
  }
  return static_cast<unsigned char>(count_exp);
}

EncodeIntensity()

unsigned char apollo::localization::msf::LossyMapMatrix2D::EncodeIntensity ( const LossyMapCell2D &  cell ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 114 行定义.

                                      {
  int intensity = static_cast<int>(cell.intensity);
  if (intensity > 255) {
    intensity = 255;
  }
  if (intensity < 0) {
    intensity = 0;
  }
  return static_cast<unsigned char>(intensity);
}

EncodeVar()

uint16_t apollo::localization::msf::LossyMapMatrix2D::EncodeVar ( const LossyMapCell2D &  cell ) const

inlineprotected

在文件 lossy_map_matrix_2d.cc 第 131 行定义.

                                                                     {
  float var = cell.intensity_var;
  var = std::sqrt(var);
  int intensity_var =
      static_cast<int>(static_cast<const float>(var_range_) /
                       (var * static_cast<const float>(var_ratio_) + 1.0));
  if (intensity_var > var_range_) {
    intensity_var = var_range_;
  }
  if (intensity_var < 1) {
    intensity_var = 1;
  }
  return static_cast<uint16_t>(intensity_var);
}

GetBinarySize()

unsigned int apollo::localization::msf::LossyMapMatrix2D::GetBinarySize ( ) const

virtual

Get the binary size of the object.

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

在文件 lossy_map_matrix_2d.cc 第 425 行定义.

                                                   {
  unsigned int target_size =
      static_cast<unsigned int>(sizeof(unsigned int) * 2 + sizeof(float) * 4);
  // count, intensity, intensity_var, altitude_avg, altitude_ground
  target_size += static_cast<unsigned int>(
      rows_ * cols_ *
      (sizeof(unsigned char) + sizeof(unsigned char) + sizeof(uint16_t) +
       sizeof(uint16_t) + sizeof(uint16_t)));
  return target_size;
}

GetIntensityImg()

void apollo::localization::msf::LossyMapMatrix2D::GetIntensityImg ( cv::Mat *  intensity_img ) const

virtual

get intensity image of node.

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

在文件 lossy_map_matrix_2d.cc 第 436 行定义.

                                                                 {
  *intensity_img = cv::Mat(cv::Size(cols_, rows_), CV_8UC1);
 
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      unsigned int id = y * cols_ + x;
      intensity_img->at<unsigned char>(y, x) =
          (unsigned char)(map_cells_[id].intensity);
    }
  }
}

Init() [1/2]

void apollo::localization::msf::LossyMapMatrix2D::Init ( const BaseMapConfig *  config )

virtual

Initialize the map matrix.

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

在文件 lossy_map_matrix_2d.cc 第 84 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::LossyMapMatrix2D::Init	(	unsigned int	rows,
		unsigned int	cols
	)

在文件 lossy_map_matrix_2d.cc 第 93 行定义.

                                                                {
  if (map_cells_) {
    delete[] map_cells_;
    map_cells_ = nullptr;
  }
  map_cells_ = new LossyMapCell2D[rows * cols];
  rows_ = rows;
  cols_ = cols;
}

LoadBinary()

unsigned int apollo::localization::msf::LossyMapMatrix2D::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 lossy_map_matrix_2d.cc 第 215 行定义.

                                                            {
  unsigned int* p = reinterpret_cast<unsigned int*>(buf);
  rows_ = *p;
  ++p;
  cols_ = *p;
  ++p;
  // std::cerr << "rows: " << rows_ << ", clos: " << cols_ << std::endl;
  float* pf = reinterpret_cast<float*>(reinterpret_cast<void*>(p));
  alt_avg_min_ = *pf;
  ++pf;
  alt_avg_max_ = *pf;
  ++pf;
  // std::cerr << "alt_min: " << alt_avg_min_ << ", alt_max: " << alt_avg_max_
  // << std::endl;
  alt_ground_min_ = *pf;
  ++pf;
  alt_ground_max_ = *pf;
  ++pf;
  // std::cerr << "alt_min: " << _alt_min << ", alt_max: " << _alt_max <<
  // std::endl;
 
  Init(rows_, cols_);
 
  unsigned char* pp = reinterpret_cast<unsigned char*>(pf);
  // count
  for (unsigned int row = 0; row < rows_; ++row) {
    for (unsigned int col = 0; col < cols_; ++col) {
      DecodeCount(pp[row * cols_ + col], &map_cells_[row * cols_ + col]);
    }
  }
  pp += rows_ * cols_;
 
  // intensity
  for (unsigned int row = 0; row < rows_; ++row) {
    for (unsigned int col = 0; col < cols_; ++col) {
      DecodeIntensity(pp[row * cols_ + col], &map_cells_[row * cols_ + col]);
    }
  }
  pp += rows_ * cols_;
 
  // intensity_var
  unsigned char* pp_low = pp + rows_ * cols_;
  unsigned char* pp_high = pp;
  for (unsigned int row = 0; row < rows_; ++row) {
    for (unsigned int col = 0; col < cols_; ++col) {
      uint16_t var = pp_high[row * cols_ + col];
      var = static_cast<uint16_t>(var * 256 + pp_low[row * cols_ + col]);
      DecodeVar(var, &map_cells_[row * cols_ + col]);
    }
  }
  pp += 2 * rows_ * cols_;
 
  // altitude_avg
  pp_low = pp + rows_ * cols_;
  pp_high = pp;
  for (unsigned int row = 0; row < rows_; ++row) {
    for (unsigned int col = 0; col < cols_; ++col) {
      uint16_t alt = pp_high[row * cols_ + col];
      alt = static_cast<uint16_t>(alt * 256 + pp_low[row * cols_ + col]);
      LossyMapCell2D& cell = map_cells_[row * cols_ + col];
      if (cell.count > 0) {
        DecodeAltitudeAvg(alt, &cell);
      } else {
        cell.altitude = 0.0;
      }
    }
  }
  pp += 2 * rows_ * cols_;
  // altitude_ground
  pp_low = pp + rows_ * cols_;
  pp_high = pp;
  for (unsigned int row = 0; row < rows_; ++row) {
    for (unsigned int col = 0; col < cols_; ++col) {
      uint16_t alt = pp_high[row * cols_ + col];
      alt = static_cast<uint16_t>(alt * 256 + pp_low[row * cols_ + col]);
      LossyMapCell2D& cell = map_cells_[row * cols_ + col];
      if (alt == ground_void_flag_) {
        cell.is_ground_useful = false;
        cell.altitude_ground = 0.0;
      } else {
        cell.is_ground_useful = true;
        DecodeAltitudeGround(alt, &cell);
      }
    }
  }
  // TODO(Localization): remove this line
  // pp += 2 * rows_ * cols_;
 
  return GetBinarySize();
}

operator=()

LossyMapMatrix2D & apollo::localization::msf::LossyMapMatrix2D::operator=

(

const LossyMapMatrix2D &

matrix

)

在文件 lossy_map_matrix_2d.cc 第 74 行定义.

                                                                            {
  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];
    }
  }
  return *this;
}

operator[]() [1/2]

LossyMapCell2D * apollo::localization::msf::LossyMapMatrix2D::operator[] ( int  row )

inline

在文件 lossy_map_matrix_2d.h 第 87 行定义.

                                             {
    return map_cells_ + row * cols_;
  }

operator[]() [2/2]

const LossyMapCell2D * apollo::localization::msf::LossyMapMatrix2D::operator[] ( int  row ) const

inline

在文件 lossy_map_matrix_2d.h 第 90 行定义.

                                                         {
    return map_cells_ + row * cols_;
  }

Reset() [1/2]

void apollo::localization::msf::LossyMapMatrix2D::Reset ( const BaseMapConfig *  config )

virtual

Reset map cells data.

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

在文件 lossy_map_matrix_2d.cc 第 103 行定义.

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

Reset() [2/2]

void apollo::localization::msf::LossyMapMatrix2D::Reset	(	unsigned int	rows,
		unsigned int	cols
	)

在文件 lossy_map_matrix_2d.cc 第 107 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

alt_avg_interval_

const float apollo::localization::msf::LossyMapMatrix2D::alt_avg_interval_ = 0.04f

protected

在文件 lossy_map_matrix_2d.h 第 120 行定义.

alt_avg_max_

float apollo::localization::msf::LossyMapMatrix2D::alt_avg_max_

mutableprotected

在文件 lossy_map_matrix_2d.h 第 123 行定义.

alt_avg_min_

float apollo::localization::msf::LossyMapMatrix2D::alt_avg_min_

mutableprotected

在文件 lossy_map_matrix_2d.h 第 122 行定义.

alt_ground_interval_

const float apollo::localization::msf::LossyMapMatrix2D::alt_ground_interval_ = 0.04f

protected

在文件 lossy_map_matrix_2d.h 第 118 行定义.

alt_ground_max_

float apollo::localization::msf::LossyMapMatrix2D::alt_ground_max_

mutableprotected

在文件 lossy_map_matrix_2d.h 第 125 行定义.

alt_ground_min_

float apollo::localization::msf::LossyMapMatrix2D::alt_ground_min_

mutableprotected

在文件 lossy_map_matrix_2d.h 第 124 行定义.

cols_

unsigned int apollo::localization::msf::LossyMapMatrix2D::cols_

protected

The number of columns.

在文件 lossy_map_matrix_2d.h 第 100 行定义.

count_range_

const int apollo::localization::msf::LossyMapMatrix2D::count_range_ = 2

protected

在文件 lossy_map_matrix_2d.h 第 121 行定义.

ground_void_flag_

const uint16_t apollo::localization::msf::LossyMapMatrix2D::ground_void_flag_ = 0xffff

protected

在文件 lossy_map_matrix_2d.h 第 119 行定义.

map_cells_

LossyMapCell2D* apollo::localization::msf::LossyMapMatrix2D::map_cells_

protected

The matrix data structure.

在文件 lossy_map_matrix_2d.h 第 102 行定义.

rows_

unsigned int apollo::localization::msf::LossyMapMatrix2D::rows_

protected

The number of rows.

在文件 lossy_map_matrix_2d.h 第 98 行定义.

var_range_

const int apollo::localization::msf::LossyMapMatrix2D::var_range_ = 1023

protected

在文件 lossy_map_matrix_2d.h 第 115 行定义.

var_ratio_

const int apollo::localization::msf::LossyMapMatrix2D::var_ratio_ = 4

protected

在文件 lossy_map_matrix_2d.h 第 116 行定义.

---

该类的文档由以下文件生成:

• modules/localization/msf/local_map/lossy_map/lossy_map_matrix_2d.h
• modules/localization/msf/local_map/lossy_map/lossy_map_matrix_2d.cc