#include <ndt_map_node.h>

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

apollo::localization::msf::NdtMapNode 的协作图:

Public 成员函数
	NdtMapNode ()

	~NdtMapNode ()

float	GetMapResolutionZ () const
	Get the resolution of this map nodex.

Eigen::Vector3d	GetCoordinate3D (unsigned int x, unsigned int y, int altitude_index) const
	Given the local x, y, altitude index, return the global coordinate.

Eigen::Vector3d	GetCoordinateCenter3D (unsigned int x, unsigned int y, int altitude_index) const
	Given the local x, y, altitude index, return the global coordinate.

Public 成员函数继承自 apollo::localization::msf::BaseMapNode
	BaseMapNode (BaseMapMatrix matrix, CompressionStrategy strategy)
	Construct a map node.

virtual	~BaseMapNode ()
	Destruct a map node.

virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)
	Initialize the map node.

virtual void	InitMapMatrix (const BaseMapConfig *map_config)
	Initialize the map matrix.

virtual void	Finalize ()
	call before deconstruction or reset.

virtual void	ResetMapNode ()
	Reset map cells data.

bool	Save ()
	Save the map node to the disk.

bool	SaveIntensityImage () const
	Save intensity image of node.

bool	Load ()
	Load the map node from the disk.

bool	Load (const char *filename)

const BaseMapMatrix &	GetMapCellMatrix () const
	Get map cell matrix.

BaseMapMatrix &	GetMapCellMatrix ()

const BaseMapConfig &	GetMapConfig () const
	Get the map settings.

void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index.

const MapNodeIndex &	GetMapNodeIndex () const
	Get the map node index.

void	SetIsReserved (bool is_reserved)
	Set if the map node is reserved.

bool	GetIsReserved () const
	Get if the map node is reserved.

bool	GetIsChanged () const
	Get if the map data has changed.

void	SetIsChanged (bool is)
	Set if the map node data has changed.

bool	GetIsReady () const
	Get if the map node data is ready

const Eigen::Vector2d &	GetLeftTopCorner () const
	Get the left top corner of the map node.

void	SetLeftTopCorner (double x, double y)

float	GetMapResolution () const
	Get the resolution of this map nodex.

bool	GetCoordinate (const Eigen::Vector2d &coordinate, unsigned int x, unsigned int y) const
	Given the global coordinate, get the local 2D coordinate of the map cell matrix.

bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int x, unsigned int y) const

Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate, eigen version.

静态 Public 成员函数
static void	Reduce (NdtMapNode *map_node, const NdtMapNode &map_node_new)
	Combine two map nodes (Reduce operation in mapreduce).

静态 Public 成员函数继承自 apollo::localization::msf::BaseMapNode
static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Public 属性
unsigned int	num_valid_cells_
	The number of cells with elements.

unsigned int	num_valid_single_cells_
	The number of single cells with elements.

额外继承的成员函数
Protected 成员函数继承自 apollo::localization::msf::BaseMapNode
virtual unsigned int	LoadBinary (FILE *file)
	Load the map cell from a binary chunk.

virtual unsigned int	CreateBinary (FILE *file) const
	Create the binary.

virtual unsigned int	GetBinarySize () const
	Get the binary size of the object.

virtual unsigned int	LoadHeaderBinary (unsigned char *buf)
	Load the map node header from a binary chunk.

virtual unsigned int	CreateHeaderBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary header.

virtual unsigned int	GetHeaderBinarySize () const
	Get the size of the header in bytes.

virtual unsigned int	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk.

virtual unsigned int	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body.

virtual unsigned int	GetBodyBinarySize () const
	Get the size of the body in bytes.

bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node.

Protected 属性继承自 apollo::localization::msf::BaseMapNode
const BaseMapConfig *	map_config_ = nullptr
	The map settings.

MapNodeIndex	index_
	The index of this node.

Eigen::Vector2d	left_top_corner_
	The left top corner of the map node in the global coordinate system.

BaseMapMatrix *	map_matrix_
	The data structure of the map datas, which is a matrix.

bool	is_reserved_ = false
	If the node is reserved in map.

bool	is_changed_ = false
	Has the map node been changed.

bool	data_is_ready_ = false

unsigned int	file_body_binary_size_ = 0
	The body binary size in file.

CompressionStrategy *	compression_strategy_ = nullptr
	@bried The compression strategy.

float	min_altitude_ = 1e6
	The min altitude of point cloud in the node.

详细描述

在文件 ndt_map_node.h 第 30 行定义.

构造及析构函数说明

◆ NdtMapNode()

apollo::localization::msf::NdtMapNode::NdtMapNode ( )

在文件 ndt_map_node.cc 第 24 行定义.

                       : BaseMapNode(new NdtMapMatrix(), new ZlibStrategy()) {
  num_valid_cells_ = 0;
  num_valid_single_cells_ = 0;
}

◆ ~NdtMapNode()

apollo::localization::msf::NdtMapNode::~NdtMapNode ( )

在文件 ndt_map_node.cc 第 28 行定义.

28{}

成员函数说明

◆ GetCoordinate3D()

Eigen::Vector3d apollo::localization::msf::NdtMapNode::GetCoordinate3D	(	unsigned int	x,
		unsigned int	y,
		int	altitude_index
	)		const

Given the local x, y, altitude index, return the global coordinate.

在文件 ndt_map_node.cc 第 29 行定义.

                                                                      {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord_2d;
  coord_2d[0] =
      left_top_corner[0] + (static_cast<double>(x)) * GetMapResolution();
  coord_2d[1] =
      left_top_corner[1] + (static_cast<double>(y)) * GetMapResolution();
 
  double altitude =
      NdtMapCells::CalAltitude(GetMapResolutionZ(), altitude_index);
  Eigen::Vector3d coord_3d;
  coord_3d[0] = coord_2d[0];
  coord_3d[1] = coord_2d[1];
  coord_3d[2] = altitude;
 
  return coord_3d;
}

◆ GetCoordinateCenter3D()

Eigen::Vector3d apollo::localization::msf::NdtMapNode::GetCoordinateCenter3D	(	unsigned int	x,
		unsigned int	y,
		int	altitude_index
	)		const

Given the local x, y, altitude index, return the global coordinate.

在文件 ndt_map_node.cc 第 48 行定义.

                                                                            {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord_2d;
  coord_2d[0] =
      left_top_corner[0] + (static_cast<double>(x) + 0.5) * GetMapResolution();
  coord_2d[1] =
      left_top_corner[1] + (static_cast<double>(y) + 0.5) * GetMapResolution();
 
  double altitude =
      NdtMapCells::CalAltitude(GetMapResolutionZ(), altitude_index);
  Eigen::Vector3d coord_3d;
  coord_3d[0] = coord_2d[0];
  coord_3d[1] = coord_2d[1];
  coord_3d[2] = altitude;
 
  return coord_3d;
}

◆ GetMapResolutionZ()

float apollo::localization::msf::NdtMapNode::GetMapResolutionZ ( ) const

inline

Get the resolution of this map nodex.

在文件 ndt_map_node.h 第 36 行定义.

                                         {
    return static_cast<const NdtMapConfig*>(map_config_)
        ->map_resolutions_z_[index_.resolution_id_];
  }

◆ Reduce()

void apollo::localization::msf::NdtMapNode::Reduce	(	NdtMapNode *	map_node,
		const NdtMapNode &	map_node_new
	)

static

Combine two map nodes (Reduce operation in mapreduce).

The result is saved in map_node.

在文件 ndt_map_node.cc 第 68 行定义.

                                                                            {
  assert(map_node->index_.m_ == map_node_new.index_.m_);
  assert(map_node->index_.n_ == map_node_new.index_.n_);
  assert(map_node->index_.resolution_id_ == map_node_new.index_.resolution_id_);
  assert(map_node->index_.zone_id_ == map_node_new.index_.zone_id_);
  NdtMapMatrix::Reduce(
      static_cast<NdtMapMatrix*>(map_node->map_matrix_),
      static_cast<const NdtMapMatrix&>(*map_node_new.map_matrix_));
}

类成员变量说明

◆ num_valid_cells_

unsigned int apollo::localization::msf::NdtMapNode::num_valid_cells_

The number of cells with elements.

在文件 ndt_map_node.h 第 58 行定义.

◆ num_valid_single_cells_

unsigned int apollo::localization::msf::NdtMapNode::num_valid_single_cells_

The number of single cells with elements.

在文件 ndt_map_node.h 第 60 行定义.

该类的文档由以下文件生成:

modules/localization/msf/local_map/ndt_map/ndt_map_node.h
modules/localization/msf/local_map/ndt_map/ndt_map_node.cc

Public 成员函数

静态 Public 成员函数

Public 属性

额外继承的成员函数