apollo::localization::msf::NdtMapMatrix类 参考

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

#include <ndt_map_matrix.h>

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

apollo::localization::msf::NdtMapMatrix 的协作图:

Public 成员函数
	NdtMapMatrix ()
	The default constructor.
	~NdtMapMatrix ()
	The default destructor.
	NdtMapMatrix (const NdtMapMatrix &cells)
	The copy constructor.
virtual void	Init (const BaseMapConfig *config)
	Initialize the matrix with the config.
virtual void	Reset (const BaseMapConfig *config)
	Reset the matrix item to default value.
void	Init (unsigned int rows, unsigned int cols)
	Initialize the matrix with the size of rows and columns.
void	Reset (unsigned int rows, unsigned int cols)
	Reset the matrix item to default value.
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 NdtMapCells &	GetMapCell (unsigned int row, unsigned int col) const
	Get a const map cell.
NdtMapCells &	GetMapCell (unsigned int row, unsigned int col)
	Get a map cell.
unsigned int	GetRows () const
	Get the size of row.
unsigned int	GetCols () const
	Get the size of cols.
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.

静态 Public 成员函数
static void	Reduce (NdtMapMatrix *cells, const NdtMapMatrix &cells_new)
	Combine two NdtMapMatrix instances (Reduce).

详细描述

The data structure of ndt Map matrix.

在文件 ndt_map_matrix.h 第 141 行定义.

构造及析构函数说明

NdtMapMatrix() [1/2]

apollo::localization::msf::NdtMapMatrix::NdtMapMatrix

(

)

The default constructor.

在文件 ndt_map_matrix.cc 第 319 行定义.

                           {
  rows_ = 0;
  cols_ = 0;
  map3d_cells_ = nullptr;
}

~NdtMapMatrix()

apollo::localization::msf::NdtMapMatrix::~NdtMapMatrix

(

)

The default destructor.

在文件 ndt_map_matrix.cc 第 325 行定义.

{}

NdtMapMatrix() [2/2]

apollo::localization::msf::NdtMapMatrix::NdtMapMatrix

(

const NdtMapMatrix &

cells

)

The copy constructor.

在文件 ndt_map_matrix.cc 第 327 行定义.

                                                    {
  Init(cells.rows_, cells.cols_);
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      NdtMapCells& cell = GetMapCell(y, x);
      const NdtMapCells& src_cell = cells.GetMapCell(y, x);
      cell = NdtMapCells(src_cell);
    }
  }
}

成员函数说明

CreateBinary()

unsigned int apollo::localization::msf::NdtMapMatrix::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 ndt_map_matrix.cc 第 377 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 NdtMapCells& cell = GetMapCell(y, x);
        unsigned int processed_size = cell.CreateBinary(pp, buf_size);
        assert(buf_size >= processed_size);
        buf_size -= processed_size;
        pp += processed_size;
      }
    }
  }
  return target_size;
}

GetBinarySize()

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

virtual

Get the binary size of the object.

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

在文件 ndt_map_matrix.cc 第 401 行定义.

                                               {
  unsigned int target_size =
      static_cast<unsigned int>(sizeof(unsigned int) * 2);
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      const NdtMapCells& cell = GetMapCell(y, x);
      target_size += cell.GetBinarySize();
    }
  }
  return target_size;
}

GetCols()

unsigned int apollo::localization::msf::NdtMapMatrix::GetCols ( ) const

inline

Get the size of cols.

在文件 ndt_map_matrix.h 第 190 行定义.

{ return cols_; }

GetIntensityImg()

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

virtual

get intensity image of node.

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

在文件 ndt_map_matrix.cc 第 423 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;
      int min_altitude_index = map3d_cells_[id].min_altitude_index_;
      intensity_img->at<unsigned char>(y, x) =
          (unsigned char)(map3d_cells_[id]
                              .cells_[min_altitude_index]
                              .intensity_);
    }
  }
}

GetMapCell() [1/2]

NdtMapCells & apollo::localization::msf::NdtMapMatrix::GetMapCell ( unsigned int  row, unsigned int  col  )

inline

Get a map cell.

在文件 ndt_map_matrix.h 第 182 行定义.

                                                                     {
    assert(row < rows_);
    assert(col < cols_);
    return map3d_cells_[row * cols_ + col];
  }

GetMapCell() [2/2]

const NdtMapCells & apollo::localization::msf::NdtMapMatrix::GetMapCell ( unsigned int  row, unsigned int  col  ) const

inline

Get a const map cell.

在文件 ndt_map_matrix.h 第 175 行定义.

                                                               {
    assert(row < rows_);
    assert(col < cols_);
    return map3d_cells_[row * cols_ + col];
  }

GetRows()

unsigned int apollo::localization::msf::NdtMapMatrix::GetRows ( ) const

inline

Get the size of row.

在文件 ndt_map_matrix.h 第 188 行定义.

{ return rows_; }

Init() [1/2]

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

virtual

Initialize the matrix with the config.

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

在文件 ndt_map_matrix.cc 第 338 行定义.

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

Init() [2/2]

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

Initialize the matrix with the size of rows and columns.

在文件 ndt_map_matrix.cc 第 346 行定义.

                                                            {
  map3d_cells_.reset(new NdtMapCells[rows * cols]);
  rows_ = rows;
  cols_ = cols;
}

LoadBinary()

unsigned int apollo::localization::msf::NdtMapMatrix::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 ndt_map_matrix.cc 第 359 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) {
      NdtMapCells& cell = GetMapCell(y, x);
      unsigned int processed_size = cell.LoadBinary(pp);
      pp += processed_size;
    }
  }
  return GetBinarySize();
}

Reduce()

void apollo::localization::msf::NdtMapMatrix::Reduce ( NdtMapMatrix *  cells, const NdtMapMatrix &  cells_new  )

static

Combine two NdtMapMatrix instances (Reduce).

在文件 ndt_map_matrix.cc 第 413 行定义.

                                                                            {
  for (unsigned int y = 0; y < cells->GetRows(); ++y) {
    for (unsigned int x = 0; x < cells->GetCols(); ++x) {
      NdtMapCells& cell = cells->GetMapCell(y, x);
      const NdtMapCells& cell_new = cells_new.GetMapCell(y, x);
      NdtMapCells::Reduce(&cell, cell_new);
    }
  }
}

Reset() [1/2]

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

virtual

Reset the matrix item to default value.

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

在文件 ndt_map_matrix.cc 第 342 行定义.

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

Reset() [2/2]

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

Reset the matrix item to default value.

在文件 ndt_map_matrix.cc 第 352 行定义.

                                                             {
  unsigned int length = rows * cols;
  for (unsigned int i = 0; i < length; ++i) {
    map3d_cells_[i].Reset();
  }
}

---

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