apollo::localization::msf::NdtMapCells类 参考

The data structure of ndt Map cell. 更多...

#include <ndt_map_matrix.h>

apollo::localization::msf::NdtMapCells 的协作图:

Public 成员函数
	NdtMapCells ()
	The default constructor.
void	Reset ()
	Reset to default value.
int	AddSample (const float intensity, const float altitude, const float resolution, const Eigen::Vector3f centroid, bool is_road=false)
	Add an sample.
unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk.
unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary.
unsigned int	GetBinarySize () const
	Get the binary size of the object.

静态 Public 成员函数
static int	CalAltitudeIndex (const float resolution, const float altitude)
	Calculate altitude index from altitude.
static float	CalAltitude (const float resolution, const int altitude_index)
	Calculate altitude from altitude index.
static void	Reduce (NdtMapCells *cell, const NdtMapCells &cell_new)
	Combine two MapCell instances (Reduce).

Public 属性
std::unordered_map< int, NdtMapSingleCell >	cells_
	The multiple altitudes of the cell.
int	max_altitude_index_
	The index of biggest altitude.
int	min_altitude_index_
	The index of smallest altitude.
std::vector< int >	road_cell_indices_
	The indices of road surface.

详细描述

The data structure of ndt Map cell.

在文件 ndt_map_matrix.h 第 97 行定义.

构造及析构函数说明

NdtMapCells()

apollo::localization::msf::NdtMapCells::NdtMapCells

(

)

The default constructor.

在文件 ndt_map_matrix.cc 第 148 行定义.

                         {
  max_altitude_index_ = static_cast<int>(-1e10);
  min_altitude_index_ = static_cast<int>(1e10);
}

成员函数说明

AddSample()

int apollo::localization::msf::NdtMapCells::AddSample	(	const float	intensity,
		const float	altitude,
		const float	resolution,
		const Eigen::Vector3f	centroid,
		bool	is_road = false
	)

Add an sample.

在文件 ndt_map_matrix.cc 第 160 行定义.

                                                                       {
  int altitude_index = CalAltitudeIndex(resolution, altitude);
  NdtMapSingleCell& cell = cells_[altitude_index];
  cell.AddSample(intensity, altitude, centroid, is_road);
  if (altitude_index > max_altitude_index_) {
    max_altitude_index_ = altitude_index;
  }
  if (altitude_index < min_altitude_index_) {
    min_altitude_index_ = altitude_index;
  }
  if (is_road) {
    auto got = std::find(road_cell_indices_.begin(), road_cell_indices_.end(),
                         altitude_index);
    if (got == road_cell_indices_.end()) {
      road_cell_indices_.push_back(altitude_index);
    }
  }
 
  return altitude_index;
}

CalAltitude()

float apollo::localization::msf::NdtMapCells::CalAltitude ( const float  resolution, const int  altitude_index  )

static

Calculate altitude from altitude index.

在文件 ndt_map_matrix.cc 第 281 行定义.

                                                         {
  return static_cast<float>(resolution *
                            (static_cast<float>(altitude_index) + 0.5));
}

CalAltitudeIndex()

int apollo::localization::msf::NdtMapCells::CalAltitudeIndex ( const float  resolution, const float  altitude  )

static

Calculate altitude index from altitude.

在文件 ndt_map_matrix.cc 第 276 行定义.

                                                        {
  return static_cast<int>(altitude / resolution);
}

CreateBinary()

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

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.

在文件 ndt_map_matrix.cc 第 219 行定义.

                                                                    {
  unsigned int target_size = GetBinarySize();
  if (buf_size >= target_size) {
    unsigned int* p = reinterpret_cast<unsigned int*>(buf);
    *p = static_cast<unsigned int>(cells_.size());
    ++p;
    buf_size -= static_cast<unsigned int>(sizeof(unsigned int));
    unsigned char* pp = reinterpret_cast<unsigned char*>(p);
    for (auto it = cells_.begin(); it != cells_.end(); ++it) {
      int altitude_index = it->first;
      const NdtMapSingleCell& cell = it->second;
      int* ppp = reinterpret_cast<int*>(pp);
      *ppp = altitude_index;
      ++ppp;
      pp = reinterpret_cast<unsigned char*>(ppp);
      unsigned int processed_size = cell.CreateBinary(pp, buf_size);
      assert(buf_size >= processed_size);
      buf_size -= processed_size;
      pp += processed_size;
    }
 
    int* ppp = reinterpret_cast<int*>(pp);
    *ppp = max_altitude_index_;
    ++ppp;
    *ppp = min_altitude_index_;
    ++ppp;
 
    unsigned int size = static_cast<unsigned int>(road_cell_indices_.size());
    p = reinterpret_cast<unsigned int*>(ppp);
    *p = size;
    ++p;
    ppp = reinterpret_cast<int*>(p);
    for (unsigned int i = 0; i < size; ++i) {
      *ppp = road_cell_indices_[i];
      ++ppp;
    }
  }
  return target_size;
}

GetBinarySize()

unsigned int apollo::localization::msf::NdtMapCells::GetBinarySize

(

)

const

Get the binary size of the object.

在文件 ndt_map_matrix.cc 第 260 行定义.

                                              {
  unsigned int target_size = sizeof(unsigned int);
  for (auto it = cells_.begin(); it != cells_.end(); ++it) {
    target_size += static_cast<unsigned int>(sizeof(int));
    const NdtMapSingleCell& cell = it->second;
    target_size += cell.GetBinarySize();
  }
 
  target_size += static_cast<unsigned int>(sizeof(int) * 2);
  target_size += static_cast<unsigned int>(sizeof(unsigned int));
  target_size +=
      static_cast<unsigned int>(sizeof(int) * road_cell_indices_.size());
 
  return target_size;
}

LoadBinary()

unsigned int apollo::localization::msf::NdtMapCells::LoadBinary

(

unsigned char *

buf

)

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

在文件 ndt_map_matrix.cc 第 183 行定义.

                                                       {
  unsigned int* p = reinterpret_cast<unsigned int*>(buf);
  unsigned int size = *p;
  ++p;
 
  unsigned char* pp = reinterpret_cast<unsigned char*>(p);
  for (unsigned int i = 0; i < size; ++i) {
    int* ppp = reinterpret_cast<int*>(pp);
    int altitude_index = *ppp;
    ++ppp;
    pp = reinterpret_cast<unsigned char*>(ppp);
    NdtMapSingleCell cell;
    unsigned int processed_size = cell.LoadBinary(pp);
    cells_[altitude_index] = cell;
    pp += processed_size;
  }
 
  int* ppp = reinterpret_cast<int*>(pp);
  max_altitude_index_ = *ppp;
  ++ppp;
  min_altitude_index_ = *ppp;
  ++ppp;
 
  p = reinterpret_cast<unsigned int*>(ppp);
  size = *p;
  ++p;
  ppp = reinterpret_cast<int*>(p);
  for (unsigned int i = 0; i < size; ++i) {
    int index = *ppp;
    ++ppp;
    road_cell_indices_.push_back(index);
  }
 
  return GetBinarySize();
}

Reduce()

void apollo::localization::msf::NdtMapCells::Reduce ( NdtMapCells *  cell, const NdtMapCells &  cell_new  )

static

Combine two MapCell instances (Reduce).

在文件 ndt_map_matrix.cc 第 287 行定义.

                                                                       {
  // Reduce cells
  for (auto it = cell_new.cells_.begin(); it != cell_new.cells_.end(); ++it) {
    int altitude_index = it->first;
    auto got = cell->cells_.find(altitude_index);
    if (got != cell->cells_.end()) {
      cell->cells_[altitude_index].MergeCell(it->second);
    } else {
      cell->cells_[altitude_index] = NdtMapSingleCell(it->second);
    }
  }
 
  if (cell_new.max_altitude_index_ > cell->max_altitude_index_) {
    cell->max_altitude_index_ = cell_new.max_altitude_index_;
  }
 
  if (cell_new.min_altitude_index_ < cell->min_altitude_index_) {
    cell->min_altitude_index_ = cell_new.min_altitude_index_;
  }
 
  for (auto it_new = cell_new.road_cell_indices_.begin();
       it_new != cell_new.road_cell_indices_.end(); ++it_new) {
    auto got_it = std::find(cell->road_cell_indices_.begin(),
                            cell->road_cell_indices_.end(), *it_new);
    if (got_it != cell->road_cell_indices_.end()) {
      *got_it += *it_new;
    } else {
      cell->road_cell_indices_.push_back(*it_new);
    }
  }
}

Reset()

void apollo::localization::msf::NdtMapCells::Reset

(

)

Reset to default value.

在文件 ndt_map_matrix.cc 第 153 行定义.

                        {
  max_altitude_index_ = static_cast<int>(-1e10);
  min_altitude_index_ = static_cast<int>(1e10);
  cells_.clear();
  road_cell_indices_.clear();
}

类成员变量说明

cells_

std::unordered_map<int, NdtMapSingleCell> apollo::localization::msf::NdtMapCells::cells_

The multiple altitudes of the cell.

在文件 ndt_map_matrix.h 第 131 行定义.

max_altitude_index_

int apollo::localization::msf::NdtMapCells::max_altitude_index_

The index of biggest altitude.

在文件 ndt_map_matrix.h 第 133 行定义.

min_altitude_index_

int apollo::localization::msf::NdtMapCells::min_altitude_index_

The index of smallest altitude.

在文件 ndt_map_matrix.h 第 135 行定义.

road_cell_indices_

std::vector<int> apollo::localization::msf::NdtMapCells::road_cell_indices_

The indices of road surface.

在文件 ndt_map_matrix.h 第 137 行定义.

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该类的文档由以下文件生成:

• modules/localization/msf/local_map/ndt_map/ndt_map_matrix.h
• modules/localization/msf/local_map/ndt_map/ndt_map_matrix.cc