The options of the reflectance map. 更多...

#include <base_map_config.h>

类 apollo::localization::msf::pyramid_map::BaseMapConfig 继承关系图:

apollo::localization::msf::pyramid_map::BaseMapConfig 的协作图:

Public 成员函数
	BaseMapConfig (const std::string &map_version="0.1")
	The constructor gives the default map settings.

virtual	~BaseMapConfig ()
	The deconstructor.

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	SetMapVersion (const std::string &map_version)
	Set map_version.

void	SetMapNodeSize (unsigned int size_x, unsigned int size_y)
	Set map_node_size.

void	SetGroundHeightOffset (float map_ground_height_offset)
	Set map_ground_height_offset.

void	SetIsCompression (bool map_is_compression)
	Set map_is_compression.

void	ResizeMapRange ()
	Resize map range by range and resolutions.

void	SetSingleResolutions (float resolution=0.125)
	Set single resolutions.

void	SetMultiResolutions ()
	Set multi resolutions.

void	SetNodeMd5Map (const std::map< std::string, std::string > &node_md5_map)
	Set node_md5_map.

void	AddNodeMd5 (const std::string &node_path, const std::string &md5)
	Add a node md5 pair.

MapVersion	GetMapVersion () const
	Get map version.

Public 属性
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_ = 0
	The map node size in pixels.

unsigned int	map_node_size_y_ = 0
	The map node size in pixels.

Rect2D< double >	map_range_
	The minimum and maximum UTM range in the map.

float	map_ground_height_offset_ = 0.0f
	Velodyne's height to the ground.

bool	map_is_compression_ = false
	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.

std::map< std::string, std::string >	node_md5_map_
	The map structure to store map node file name and its md5.

std::string	coordinate_type_ = ""

Protected 成员函数
virtual bool	CreateXml (boost::property_tree::ptree *config) const
	Create the XML structure.

virtual bool	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 base_map_config.h 第 42 行定义.

构造及析构函数说明

◆ BaseMapConfig()

apollo::localization::msf::pyramid_map::BaseMapConfig::BaseMapConfig ( const std::string & map_version = "0.1" )

explicit

The constructor gives the default map settings.

在文件 base_map_config.cc 第 29 行定义.

                                                         {
  map_version_ = map_version;
  coordinate_type_ = "UTM";
  map_resolutions_.push_back(0.125);
  map_node_size_x_ = 1024;                                   // in pixels
  map_node_size_y_ = 1024;                                   // in pixels
  map_range_ = Rect2D<double>(0, 0, 1000448.0, 10000384.0);  // in meters
  map_ground_height_offset_ = 1.7f;
  map_is_compression_ = true;
  map_folder_path_ = ".";
}

◆ ~BaseMapConfig()

apollo::localization::msf::pyramid_map::BaseMapConfig::~BaseMapConfig ( )

virtual

The deconstructor.

在文件 base_map_config.cc 第 41 行定义.

41{}

成员函数说明

◆ AddNodeMd5()

void apollo::localization::msf::pyramid_map::BaseMapConfig::AddNodeMd5	(	const std::string &	node_path,
		const std::string &	md5
	)

Add a node md5 pair.

在文件 base_map_config.cc 第 252 行定义.

                                                     {
  node_md5_map_[node_path] = md5;
}

◆ CreateXml()

bool apollo::localization::msf::pyramid_map::BaseMapConfig::CreateXml ( boost::property_tree::ptree * config ) const

protectedvirtual

Create the XML structure.

被 apollo::localization::msf::pyramid_map::NdtMapConfig , 以及 apollo::localization::msf::pyramid_map::PyramidMapConfig 重载.

在文件 base_map_config.cc 第 66 行定义.

                                                                   {
  config->put("map.map_config.version", map_version_);
  config->put("map.map_config.coordnate_type", coordinate_type_);
  config->put("map.map_config.node_size.x", map_node_size_x_);
  config->put("map.map_config.node_size.y", map_node_size_y_);
  config->put("map.map_config.range.min_x", map_range_.GetMinX());
  config->put("map.map_config.range.min_y", map_range_.GetMinY());
  config->put("map.map_config.range.max_x", map_range_.GetMaxX());
  config->put("map.map_config.range.max_y", map_range_.GetMaxY());
  config->put("map.map_config.compression", map_is_compression_);
  config->put("map.map_runtime.map_ground_height_offset",
              map_ground_height_offset_);
  for (size_t i = 0; i < map_resolutions_.size(); ++i) {
    config->add("map.map_config.resolutions.resolution", map_resolutions_[i]);
  }
 
  for (size_t i = 0; i < map_datasets_.size(); ++i) {
    config->add("map.map_record.datasets.dataset", map_datasets_[i]);
  }
 
  // added md5 check info
  std::map<std::string, std::string>::const_iterator iter;
  for (iter = node_md5_map_.begin(); iter != node_md5_map_.end(); ++iter) {
    boost::property_tree::ptree child;
    child.put("path", iter->first);
    child.put("md5", iter->second);
    config->add_child("map.check_info.nodes.node", child);
  }
 
  return true;
}

◆ GetMapVersion()

MapVersion apollo::localization::msf::pyramid_map::BaseMapConfig::GetMapVersion ( ) const

Get map version.

在文件 base_map_config.cc 第 270 行定义.

                                              {
  if (map_version_ == "lossy_full_alt" || map_version_ == "lossy_map") {
    return MapVersion::LOSSY_FULL_ALT_MAP;
  }
 
  if (map_version_ == "0.21" || map_version_ == "lossless_map") {
    return MapVersion::LOSSLESS_MAP;
  }
 
  if (map_version_ == "pyramid_lossy_map") {
    return MapVersion::PYRAMID_LOSSY_MAP;
  }
 
  if (map_version_ == "pyramid_lossless_map") {
    return MapVersion::PYRAMID_LOSSLESS_MAP;
  }
 
  return MapVersion::UNKNOWN;
}

◆ Load()

bool apollo::localization::msf::pyramid_map::BaseMapConfig::Load ( const std::string & file_path )

Load the map option from a XML file.

在文件 base_map_config.cc 第 54 行定义.

                                                   {
  boost::property_tree::ptree config;
  boost::property_tree::read_xml(file_path, config);
  bool success = LoadXml(config);
 
  if (success) {
    AINFO << "Loaded the map configuration from: " << file_path;
    return true;
  }
  return false;
}

◆ LoadXml()

bool apollo::localization::msf::pyramid_map::BaseMapConfig::LoadXml ( const boost::property_tree::ptree & config )

protectedvirtual

Load the map options from a XML structure.

被 apollo::localization::msf::pyramid_map::PyramidMapConfig 重载.

在文件 base_map_config.cc 第 98 行定义.

                                                                 {
  map_resolutions_.clear();
  map_datasets_.clear();
  node_md5_map_.clear();
 
  auto map_version = config.get_optional<std::string>("map.map_config.version");
  if (map_version) {
    map_version_ = map_version.get();
  }
  auto coordinate_type =
      config.get_optional<std::string>("map.map_config.coordinate_type");
  if (coordinate_type) {
    coordinate_type_ = coordinate_type.get();
  }
  auto map_node_size_x =
      config.get_optional<unsigned int>("map.map_config.node_size.x");
  if (map_node_size_x) {
    map_node_size_x_ = map_node_size_x.get();
  }
 
  auto map_node_size_y =
      config.get_optional<unsigned int>("map.map_config.node_size.y");
  if (map_node_size_y) {
    map_node_size_y_ = map_node_size_y.get();
  }
  double min_x = 0.0;
  auto tmp_min_x = config.get_optional<double>("map.map_config.range.min_x");
  if (tmp_min_x) {
    min_x = tmp_min_x.get();
  }
  double min_y = 0.0;
  auto tmp_min_y = config.get_optional<double>("map.map_config.range.min_y");
  if (tmp_min_y) {
    min_y = tmp_min_y.get();
  }
  double max_x = 0.0;
  auto tmp_max_x = config.get_optional<double>("map.map_config.range.max_x");
  if (tmp_max_x) {
    max_x = tmp_max_x.get();
  }
  double max_y = 0.0;
  auto tmp_max_y = config.get_optional<double>("map.map_config.range.max_y");
  if (tmp_max_y) {
    max_y = tmp_max_y.get();
  }
  map_range_ = Rect2D<double>(min_x, min_y, max_x, max_y);
  auto map_ground_height_offset =
      config.get_optional<float>("map.map_runtime.map_ground_height_offset");
  if (map_ground_height_offset) {
    map_ground_height_offset_ = map_ground_height_offset.get();
  }
  auto map_is_compression =
      config.get_optional<bool>("map.map_config.compression");
  if (map_is_compression) {
    map_is_compression_ = map_is_compression.get();
  }
 
  auto resolutions = config.get_child_optional("map.map_config.resolutions");
  if (resolutions) {
    std::for_each(resolutions->begin(), resolutions->end(),
                  [this](const boost::property_tree::ptree::value_type &v) {
                    map_resolutions_.push_back(
                        static_cast<float>(atof(v.second.data().c_str())));
                    AINFO << "Resolution: " << v.second.data();
                  });
  } else {
    return false;
  }
 
  auto datasets = config.get_child_optional("map.map_record.datasets");
  if (datasets) {
    for (const boost::property_tree::ptree::value_type &v : *datasets) {
      map_datasets_.push_back(v.second.data());
      AINFO << "Dataset: " << v.second.data();
    }
  }
 
  // load md5 check info
  auto nodes = config.get_child_optional("map.check_info.nodes");
  if (nodes) {
    for (const boost::property_tree::ptree::value_type &v : *nodes) {
      const boost::property_tree::ptree &child = v.second;
      auto path = child.get_optional<std::string>("path");
      auto md5 = child.get_optional<std::string>("md5");
      if (!path || !md5) {
        AERROR << "Lack path or md5.";
        return false;
      }
      node_md5_map_[*path] = *md5;
    }
  }
 
  return true;
}

◆ ResizeMapRange()

void apollo::localization::msf::pyramid_map::BaseMapConfig::ResizeMapRange ( )

Resize map range by range and resolutions.

在文件 base_map_config.cc 第 197 行定义.

                                   {
  double min_x = 0;
  double min_y = 0;
  double max_x = 0;
  double max_y = 0;
 
  double max_resolutions =
      *std::max_element(map_resolutions_.begin(), map_resolutions_.end());
  int n = 0;
  while (min_x >= map_range_.GetMinX()) {
    ++n;
    min_x -= n * map_node_size_x_ * max_resolutions;
  }
  n = 0;
  while (min_y >= map_range_.GetMinY()) {
    ++n;
    min_y -= n * map_node_size_y_ * max_resolutions;
  }
  n = 0;
  while (max_x <= map_range_.GetMaxX()) {
    ++n;
    max_x += n * map_node_size_x_ * max_resolutions;
  }
  n = 0;
  while (max_y <= map_range_.GetMaxY()) {
    ++n;
    max_y += n * map_node_size_y_ * max_resolutions;
  }
  map_range_ = Rect2D<double>(min_x, min_y, max_x, max_y);
}

◆ Save()

bool apollo::localization::msf::pyramid_map::BaseMapConfig::Save ( const std::string & file_path )

Save the map option to a XML file.

在文件 base_map_config.cc 第 43 行定义.

                                                   {
  boost::property_tree::ptree config;
  bool success = CreateXml(&config);
  if (success) {
    boost::property_tree::write_xml(file_path, config);
    AINFO << "Saved the map configuration to: " << file_path;
    return true;
  }
  return false;
}

◆ SetGroundHeightOffset()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetGroundHeightOffset ( float map_ground_height_offset )

Set map_ground_height_offset.

在文件 base_map_config.cc 第 262 行定义.

                                                                        {
  map_ground_height_offset_ = map_ground_height_offset;
}

◆ SetIsCompression()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetIsCompression ( bool map_is_compression )

Set map_is_compression.

在文件 base_map_config.cc 第 266 行定义.

                                                            {
  map_is_compression_ = map_is_compression;
}

◆ SetMapNodeSize()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetMapNodeSize	(	unsigned int	size_x,
		unsigned int	size_y
	)

Set map_node_size.

在文件 base_map_config.cc 第 257 行定义.

                                                                           {
  map_node_size_x_ = size_x;
  map_node_size_y_ = size_y;
}

◆ SetMapVersion()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetMapVersion ( const std::string & map_version )

Set map_version.

在文件 base_map_config.cc 第 193 行定义.

                                                              {
  map_version_ = map_version;
}

◆ SetMultiResolutions()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetMultiResolutions ( )

Set multi resolutions.

在文件 base_map_config.cc 第 233 行定义.

                                        {
  map_resolutions_.clear();
  map_resolutions_.push_back(0.03125);
  map_resolutions_.push_back(0.0625);
  map_resolutions_.push_back(0.125);
  map_resolutions_.push_back(0.25);
  map_resolutions_.push_back(0.5);
  map_resolutions_.push_back(1);
  map_resolutions_.push_back(2);
  map_resolutions_.push_back(4);
  map_resolutions_.push_back(8);
  map_resolutions_.push_back(16);
}

◆ SetNodeMd5Map()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetNodeMd5Map ( const std::map< std::string, std::string > & node_md5_map )

Set node_md5_map.

在文件 base_map_config.cc 第 247 行定义.

                                                      {
  node_md5_map_ = node_md5_map;
}

◆ SetSingleResolutions()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetSingleResolutions ( float resolution = 0.125 )

Set single resolutions.

在文件 base_map_config.cc 第 228 行定义.

                                                         {
  map_resolutions_.clear();
  map_resolutions_.push_back(resolution);
}

类成员变量说明

◆ coordinate_type_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::coordinate_type_ = ""

在文件 base_map_config.h 第 101 行定义.

◆ map_datasets_

std::vector<std::string> apollo::localization::msf::pyramid_map::BaseMapConfig::map_datasets_

The datasets that contributed to the map.

在文件 base_map_config.h 第 96 行定义.

◆ map_folder_path_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::map_folder_path_ = ""

The map folder path.

在文件 base_map_config.h 第 94 行定义.

◆ map_ground_height_offset_

float apollo::localization::msf::pyramid_map::BaseMapConfig::map_ground_height_offset_ = 0.0f

Velodyne's height to the ground.

Estimate the Velodyne's height based on the ground height.

在文件 base_map_config.h 第 89 行定义.

◆ map_is_compression_

bool apollo::localization::msf::pyramid_map::BaseMapConfig::map_is_compression_ = false

Enable the compression.

在文件 base_map_config.h 第 91 行定义.

◆ map_node_size_x_

unsigned int apollo::localization::msf::pyramid_map::BaseMapConfig::map_node_size_x_ = 0

The map node size in pixels.

在文件 base_map_config.h 第 78 行定义.

◆ map_node_size_y_

unsigned int apollo::localization::msf::pyramid_map::BaseMapConfig::map_node_size_y_ = 0

The map node size in pixels.

在文件 base_map_config.h 第 80 行定义.

◆ map_range_

Rect2D<double> apollo::localization::msf::pyramid_map::BaseMapConfig::map_range_

The minimum and maximum UTM range in the map.

The x direction is the easting in UTM coordinate. The y direction is the northing in UTM coordinate.

在文件 base_map_config.h 第 85 行定义.

◆ map_resolutions_

std::vector<float> apollo::localization::msf::pyramid_map::BaseMapConfig::map_resolutions_

The pixel resolutions in the map in meters.

在文件 base_map_config.h 第 76 行定义.

◆ map_version_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::map_version_ = ""

The version of map.

在文件 base_map_config.h 第 74 行定义.

◆ node_md5_map_

std::map<std::string, std::string> apollo::localization::msf::pyramid_map::BaseMapConfig::node_md5_map_

The map structure to store map node file name and its md5.

key：map node file name; value: md5 of map node file.

在文件 base_map_config.h 第 99 行定义.

该类的文档由以下文件生成:

modules/localization/msf/local_pyramid_map/base_map/base_map_config.h
modules/localization/msf/local_pyramid_map/base_map/base_map_config.cc

Public 成员函数

Public 属性

Protected 成员函数