apollo::localization::msf::pyramid_map::BaseMapNode类 参考

The data structure of a Node in the map. 更多...

#include <base_map_node.h>

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

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

Public 成员函数
	BaseMapNode ()
	Construct a map node.
	BaseMapNode (BaseMapMatrix *matrix, CompressionStrategy *strategy)
	Construct a map node.
virtual	~BaseMapNode ()
	Destruct a map node.
virtual void	Init (const BaseMapConfig *map_config)=0
	Initialize the map node.
virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)=0
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	SaveAltitudeImage () const
	Save altitude image of node.
bool	Load ()
	Load the map node from the disk.
bool	Load (const char *filename)
virtual 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.
virtual bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int *x, unsigned int *y) const
virtual Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate.
void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index.
bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node.
bool	SaveAltitudeImage (const std::string &path) const
	Save altitude image of node.
const BaseMapMatrix &	GetMapCellMatrix () const
	Get map cell matrix.
BaseMapMatrix &	GetMapCellMatrix ()
const BaseMapConfig &	GetMapConfig () const
	Get the map settings.
const BaseMapNodeConfig &	GetMapNodeConfig () const
	Get the map node config.
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
void	SetLeftTopCorner (double x, double y)
	Set the left top corner of the map node.
float	GetMapResolution () const
	Get the resolution of this map nodex.

静态 Public 成员函数
static Eigen::Vector2d	ComputeLeftTopCorner (const BaseMapConfig &config, const MapNodeIndex &index)
static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Protected 成员函数
bool	CreateMapDirectory (const std::string &path) const
	Try to create the map directory.
bool	CreateMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to create the map directory recursively.
bool	CheckMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to check the map directory recursively.
virtual bool	LoadBinary (FILE *file)
	Load the map cell from a binary chunk.
virtual bool	CreateBinary (FILE *file) const
	Create the binary.
virtual size_t	GetBinarySize () const
	Get the binary size of the object.
virtual size_t	LoadHeaderBinary (const unsigned char *buf)
	Load the map node header from a binary chunk.
virtual size_t	CreateHeaderBinary (unsigned char *buf, size_t buf_size) const
	Create the binary header.
virtual size_t	GetHeaderBinarySize () const
	Get the size of the header in bytes.
virtual size_t	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk.
virtual size_t	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body.
virtual size_t	GetBodyBinarySize () const
	Get the size of the body in bytes.

Protected 属性
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.
std::shared_ptr< BaseMapNodeConfig >	map_node_config_ = nullptr
	The map node config.
std::shared_ptr< BaseMapMatrix >	map_matrix_ = nullptr
	The data structure of the map datas, which is a matrix.
std::shared_ptr< BaseMapMatrixHandler >	map_matrix_handler_ = nullptr
	The class to load and create map matrix binary.
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
size_t	file_body_binary_size_ = 0
	The body binary size in file.
size_t	uncompressed_file_body_size_ = 0
std::shared_ptr< CompressionStrategy >	compression_strategy_ = nullptr
	@bried The compression strategy.

详细描述

The data structure of a Node in the map.

在文件 base_map_node.h 第 37 行定义.

构造及析构函数说明

BaseMapNode() [1/2]

apollo::localization::msf::pyramid_map::BaseMapNode::BaseMapNode

(

)

Construct a map node.

在文件 base_map_node.cc 第 33 行定义.

    : map_config_(NULL),
      map_matrix_(NULL),
      map_matrix_handler_(NULL),
      compression_strategy_(NULL) {
  is_changed_ = false;
  data_is_ready_ = false;
  is_reserved_ = false;
  file_body_binary_size_ = 0;
  uncompressed_file_body_size_ = 0;
}

BaseMapNode() [2/2]

apollo::localization::msf::pyramid_map::BaseMapNode::BaseMapNode	(	BaseMapMatrix *	matrix,
		CompressionStrategy *	strategy
	)

Construct a map node.

在文件 base_map_node.cc 第 45 行定义.

    : map_config_(NULL),
      map_matrix_(matrix),
      map_matrix_handler_(NULL),
      compression_strategy_(strategy) {
  is_changed_ = false;
  data_is_ready_ = false;
  is_reserved_ = false;
  file_body_binary_size_ = 0;
}

~BaseMapNode()

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

virtual

Destruct a map node.

在文件 base_map_node.cc 第 56 行定义.

{}

成员函数说明

CheckMapDirectoryRecursively()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CheckMapDirectoryRecursively ( const std::vector< std::string > &  paths ) const

protected

Try to check the map directory recursively.

在文件 base_map_node.cc 第 414 行定义.

                                             {
  std::string path = "";
 
  for (unsigned int i = 0; i < paths.size(); ++i) {
    path = path + paths[i];
    if (!(cyber::common::DirectoryExists(path))) {
      return false;
    }
  }
 
  return true;
}

ComputeLeftTopCorner()

Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::ComputeLeftTopCorner ( const BaseMapConfig &  config, const MapNodeIndex &  index  )

static

在文件 base_map_node.cc 第 356 行定义.

                                                                             {
  Eigen::Vector2d coord;
  coord[0] = config.map_range_.GetMinX() +
             static_cast<float>(config.map_node_size_x_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.n_);
  coord[1] = config.map_range_.GetMinY() +
             static_cast<float>(config.map_node_size_y_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.m_);
  if (coord[0] >= config.map_range_.GetMaxX()) {
    throw "[BaseMapNode::ComputeLeftTopCorner] coord[0]"
                " >= config.map_range_.GetMaxX()";
  }
  if (coord[1] >= config.map_range_.GetMaxY()) {
    throw "[BaseMapNode::compute_left_top_corner] coord[1]"
                " >= config.map_range_.GetMaxY()";
  }
  return coord;
}

CreateBinary()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateBinary ( FILE *  file ) const

protectedvirtual

Create the binary.

Serialization of the object.

在文件 base_map_node.cc 第 202 行定义.

                                               {
  size_t buf_size = GetBinarySize();
  std::vector<unsigned char> buffer;
  buffer.resize(buf_size);
 
  size_t binary_size = 0;
  std::vector<unsigned char> body_buffer;
  size_t processed_size = CreateBodyBinary(&body_buffer);
 
  if (map_node_config_->has_body_md5_) {
    FileUtility::ComputeBinaryMd5(&body_buffer[0], body_buffer.size(),
                                  map_node_config_->body_md5_);
  }
 
  if (processed_size == 0) {
    return false;
  }
 
  // Create header
  size_t header_size = GetHeaderBinarySize();
  std::vector<unsigned char> header_buf(header_size);
  processed_size = CreateHeaderBinary(&buffer[0], buf_size);
 
  if (header_size != processed_size) {
    return false;
  }
 
  size_t buffer_bias = processed_size;
  buf_size -= processed_size;
  binary_size += processed_size;
  // Create body
  memcpy(&buffer[buffer_bias], &body_buffer[0], body_buffer.size());
  // write binary
  binary_size += static_cast<unsigned int>(body_buffer.size());
  fwrite(&buffer[0], 1, binary_size, file);
 
  return true;
}

CreateBodyBinary()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::CreateBodyBinary ( std::vector< unsigned char > *  buf ) const

protectedvirtual

Create the binary body.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

在文件 base_map_node.cc 第 291 行定义.

                                                                        {
  if (compression_strategy_ == nullptr) {
    size_t body_size = GetBodyBinarySize();
    buf->resize(body_size);
    file_body_binary_size_ =
        map_matrix_handler_->CreateBinary(map_matrix_, &(*buf)[0], body_size);
    return file_body_binary_size_;
  }
  std::vector<unsigned char> buf_uncompressed;
  // Compute the uncompression binary body size
  size_t body_size = GetBodyBinarySize();
  buf_uncompressed.resize(body_size);
  size_t binary_size = map_matrix_handler_->CreateBinary(
      map_matrix_, &buf_uncompressed[0], body_size);
  if (binary_size == 0) {
    return 0;
  }
 
  compression_strategy_->Encode(&buf_uncompressed, buf);
  file_body_binary_size_ = buf->size();
 
  return buf->size();
}

CreateHeaderBinary()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::CreateHeaderBinary ( unsigned char *  buf, size_t  buf_size  ) const

protectedvirtual

Create the binary header.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

在文件 base_map_node.cc 第 263 行定义.

                                                              {
  map_node_config_->body_size_ = file_body_binary_size_;
  return map_node_config_->CreateBinary(buf, buf_size);
}

CreateMapDirectory()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateMapDirectory ( const std::string &  path ) const

protected

Try to create the map directory.

在文件 base_map_node.cc 第 394 行定义.

                                                                {
  if (!cyber::common::DirectoryExists(path)) {
    return cyber::common::EnsureDirectory(path);
  }
  return true;
}

CreateMapDirectoryRecursively()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateMapDirectoryRecursively ( const std::vector< std::string > &  paths ) const

protected

Try to create the map directory recursively.

在文件 base_map_node.cc 第 401 行定义.

                                             {
  std::string path = "";
 
  for (unsigned int i = 0; i < paths.size(); ++i) {
    path = path + paths[i];
    if (!CreateMapDirectory(path)) {
      return false;
    }
  }
  return true;
}

Finalize()

void apollo::localization::msf::pyramid_map::BaseMapNode::Finalize ( )

virtual

call before deconstruction or reset.

在文件 base_map_node.cc 第 63 行定义.

                           {
  if (is_changed_) {
    Save();
    AINFO << "Save Map Node to disk: " << map_node_config_->node_index_ << ".";
  }
}

GetBinarySize()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetBinarySize ( ) const

protectedvirtual

Get the binary size of the object.

在文件 base_map_node.cc 第 241 行定义.

                                        {
  // It is uncompressed binary size.
  return GetBodyBinarySize() + GetHeaderBinarySize();
}

GetBodyBinarySize()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetBodyBinarySize ( ) const

protectedvirtual

Get the size of the body in bytes.

在文件 base_map_node.cc 第 315 行定义.

                                            {
  return map_matrix_handler_->GetBinarySize(map_matrix_);
}

GetCoordinate() [1/3]

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate ( const Eigen::Vector2d &  coordinate, unsigned int *  x, unsigned int *  y  ) const

virtual

Given the global coordinate, get the local 2D coordinate of the map cell matrix.

<return> If global coordinate (x, y) belongs to this map node.

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

在文件 base_map_node.cc 第 319 行定义.

                                                                        {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  unsigned int off_x = static_cast<unsigned int>(
      (coordinate[0] - left_top_corner[0]) / GetMapResolution());
  unsigned int off_y = static_cast<unsigned int>(
      (coordinate[1] - left_top_corner[1]) / GetMapResolution());
  if (off_x < this->map_config_->map_node_size_x_ &&
      off_y < this->map_config_->map_node_size_y_) {
    *x = off_x;
    *y = off_y;
    return true;
  }
  return false;
}

GetCoordinate() [2/3]

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate ( const Eigen::Vector3d &  coordinate, unsigned int *  x, unsigned int *  y  ) const

virtual

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

在文件 base_map_node.cc 第 335 行定义.

                                                                        {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  return GetCoordinate(coord2d, x, y);
}

GetCoordinate() [3/3]

Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate ( unsigned int  x, unsigned int  y  ) const

virtual

Given the local 2D coordinate, return the global coordinate.

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

在文件 base_map_node.cc 第 341 行定义.

                                                                 {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord(
      left_top_corner[0] + static_cast<float>(x) * GetMapResolution(),
      left_top_corner[1] + static_cast<float>(y) * GetMapResolution());
  return coord;
}

GetHeaderBinarySize()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetHeaderBinarySize ( ) const

protectedvirtual

Get the size of the header in bytes.

在文件 base_map_node.cc 第 269 行定义.

                                              {
  return map_node_config_->GetBinarySize();
}

GetIsChanged()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsChanged ( ) const

inline

Get if the map data has changed.

在文件 base_map_node.h 第 113 行定义.

{ return is_changed_; }

GetIsReady()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsReady ( ) const

inline

Get if the map node data is ready

在文件 base_map_node.h 第 119 行定义.

{ return data_is_ready_; }

GetIsReserved()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsReserved ( ) const

inline

Get if the map node is reserved.

在文件 base_map_node.h 第 110 行定义.

{ return is_reserved_; }

GetLeftTopCorner() [1/2]

const Eigen::Vector2d & apollo::localization::msf::pyramid_map::BaseMapNode::GetLeftTopCorner ( ) const

inline

在文件 base_map_node.h 第 121 行定义.

                                                       {
    return left_top_corner_;
  }

GetLeftTopCorner() [2/2]

Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::GetLeftTopCorner ( const BaseMapConfig &  option, const MapNodeIndex &  index  )

static

在文件 base_map_node.cc 第 378 行定义.

                                                                         {
  Eigen::Vector2d coord;
  coord[0] = config.map_range_.GetMinX() +
             static_cast<float>(config.map_node_size_x_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.n_);
  coord[1] = config.map_range_.GetMinY() +
             static_cast<float>(config.map_node_size_y_) *
                 config.map_resolutions_[index.resolution_id_] *
                 static_cast<float>(index.m_);
  DCHECK_LT(coord[0], config.map_range_.GetMaxX());
  DCHECK_LT(coord[1], config.map_range_.GetMaxY());
  return coord;
}

GetMapCellMatrix() [1/2]

BaseMapMatrix & apollo::localization::msf::pyramid_map::BaseMapNode::GetMapCellMatrix ( )

inline

在文件 base_map_node.h 第 91 行定义.

{ return *map_matrix_; }

GetMapCellMatrix() [2/2]

const BaseMapMatrix & apollo::localization::msf::pyramid_map::BaseMapNode::GetMapCellMatrix ( ) const

inline

Get map cell matrix.

在文件 base_map_node.h 第 90 行定义.

{ return *map_matrix_; }

GetMapConfig()

const BaseMapConfig & apollo::localization::msf::pyramid_map::BaseMapNode::GetMapConfig ( ) const

inline

Get the map settings.

在文件 base_map_node.h 第 94 行定义.

{ return *map_config_; }

GetMapNodeConfig()

const BaseMapNodeConfig & apollo::localization::msf::pyramid_map::BaseMapNode::GetMapNodeConfig ( ) const

inline

Get the map node config.

在文件 base_map_node.h 第 97 行定义.

                                                           {
    return *map_node_config_;
  }

GetMapNodeIndex()

const MapNodeIndex & apollo::localization::msf::pyramid_map::BaseMapNode::GetMapNodeIndex ( ) const

inline

Get the map node index.

在文件 base_map_node.h 第 102 行定义.

                                                     {
    return map_node_config_->node_index_;
  }

GetMapResolution()

float apollo::localization::msf::pyramid_map::BaseMapNode::GetMapResolution ( ) const

inline

Get the resolution of this map nodex.

在文件 base_map_node.h 第 132 行定义.

                                        {
    return this->map_config_
        ->map_resolutions_[map_node_config_->node_index_.resolution_id_];
  }

Init() [1/2]

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::Init ( const BaseMapConfig *  map_config )

pure virtual

Initialize the map node.

Call this function first before use it!

在 apollo::localization::msf::pyramid_map::NdtMapNode , 以及 apollo::localization::msf::pyramid_map::PyramidMapNode 内被实现.

Init() [2/2]

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::Init ( const BaseMapConfig *  map_config, const MapNodeIndex &  index, bool  create_map_cells = true  )

pure virtual

在 apollo::localization::msf::pyramid_map::NdtMapNode , 以及 apollo::localization::msf::pyramid_map::PyramidMapNode 内被实现.

InitMapMatrix()

void apollo::localization::msf::pyramid_map::BaseMapNode::InitMapMatrix ( const BaseMapConfig *  map_config )

virtual

Initialize the map matrix.

在文件 base_map_node.cc 第 58 行定义.

                                                               {
  map_config_ = map_config;
  map_matrix_->Init(*map_config);
}

Load() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::Load

(

)

Load the map node from the disk.

在文件 base_map_node.cc 第 131 行定义.

                       {
  std::string path = map_config_->map_folder_path_;
  char buf[1024];
  std::vector<std::string> paths;
  paths.push_back(path);
  snprintf(buf, sizeof(buf), "/map");
  paths.push_back(buf);
  path = path + buf;
  snprintf(buf, sizeof(buf), "/%03u",
           map_node_config_->node_index_.resolution_id_);
  paths.push_back(buf);
  path = path + buf;
  paths.push_back(map_node_config_->node_index_.zone_id_ > 0 ? "/north"
                                                             : "/south");
  path = path + paths.back();
  snprintf(buf, sizeof(buf), "/%02d",
           abs(map_node_config_->node_index_.zone_id_));
  paths.push_back(buf);
  path = path + buf;
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.m_);
  paths.push_back(buf);
  path = path + buf;
  if (!CheckMapDirectoryRecursively(paths)) {
    return false;
  }
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.n_);
  path = path + buf;
  return Load(path.c_str());
}

Load() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::Load

(

const char *

filename

)

在文件 base_map_node.cc 第 161 行定义.

                                           {
  data_is_ready_ = false;
 
  FILE* file = fopen(filename, "rb");
  if (file) {
    bool success = LoadBinary(file);
    fclose(file);
    is_changed_ = false;
    data_is_ready_ = success;
    return success;
  } else {
    AERROR << "Can't find the file: " << filename;
    return false;
  }
}

LoadBinary()

bool apollo::localization::msf::pyramid_map::BaseMapNode::LoadBinary ( FILE *  file )

protectedvirtual

Load the map cell from a binary chunk.

在文件 base_map_node.cc 第 177 行定义.

                                       {
  // Load the header
  size_t header_size = GetHeaderBinarySize();
  std::vector<unsigned char> buf(header_size);
  size_t read_size = fread(&buf[0], 1, header_size, file);
  if (read_size != header_size) {
    return false;
  }
  size_t processed_size = LoadHeaderBinary(&buf[0]);
  if (processed_size != header_size) {
    return false;
  }
  // Load the body
  buf.resize(file_body_binary_size_);
  read_size = fread(&buf[0], 1, file_body_binary_size_, file);
  if (read_size != file_body_binary_size_) {
    return false;
  }
  processed_size = LoadBodyBinary(&buf);
  if (processed_size != uncompressed_file_body_size_) {
    return false;
  }
  return true;
}

LoadBodyBinary()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::LoadBodyBinary ( std::vector< unsigned char > *  buf )

protectedvirtual

Load the map node body from a binary chunk.

参数

<return>

The size read (the real size of body).

在文件 base_map_node.cc 第 273 行定义.

                                                                {
  if (compression_strategy_ == nullptr) {
    return map_matrix_handler_->LoadBinary(&(*buf)[0], map_matrix_);
  }
  std::vector<unsigned char> buf_uncompressed;
  int ret = compression_strategy_->Decode(buf, &buf_uncompressed);
  if (ret < 0) {
    AERROR << "compression Decode error: " << ret;
    return 0;
  }
  uncompressed_file_body_size_ = buf_uncompressed.size();
  AINFO << "map node compress ratio: "
        << static_cast<float>(buf->size()) /
               static_cast<float>(uncompressed_file_body_size_);
 
  return map_matrix_handler_->LoadBinary(&buf_uncompressed[0], map_matrix_);
}

LoadHeaderBinary()

size_t apollo::localization::msf::pyramid_map::BaseMapNode::LoadHeaderBinary ( const unsigned char *  buf )

protectedvirtual

Load the map node header from a binary chunk.

参数

<return>

The size read (the real size of header).

在文件 base_map_node.cc 第 246 行定义.

                                                             {
  std::shared_ptr<BaseMapNodeConfig> node_config_tem =
      map_node_config_->Clone();
 
  size_t target_size = map_node_config_->LoadBinary(buf);
 
  // check if header is valid
  if (node_config_tem->map_version_ != map_node_config_->map_version_ ||
      node_config_tem->node_index_ != map_node_config_->node_index_) {
    return 0;
  }
 
  file_body_binary_size_ = map_node_config_->body_size_;
 
  return target_size;
}

ResetMapNode()

void apollo::localization::msf::pyramid_map::BaseMapNode::ResetMapNode ( )

virtual

Reset map cells data.

在文件 base_map_node.cc 第 70 行定义.

                               {
  is_changed_ = false;
  data_is_ready_ = false;
  is_reserved_ = false;
  file_body_binary_size_ = 0;
  uncompressed_file_body_size_ = 0;
  map_matrix_->Reset();
}

Save()

bool apollo::localization::msf::pyramid_map::BaseMapNode::Save

(

)

Save the map node to the disk.

在文件 base_map_node.cc 第 79 行定义.

                       {
  SaveIntensityImage();
  SaveAltitudeImage();
 
  std::string path = map_config_->map_folder_path_;
 
  char buf[1024];
  std::vector<std::string> paths;
 
  paths.push_back(path);
 
  snprintf(buf, sizeof(buf), "/map");
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%03u",
           map_node_config_->node_index_.resolution_id_);
  paths.push_back(buf);
  path = path + buf;
 
  paths.push_back(map_node_config_->node_index_.zone_id_ > 0 ? "/north"
                                                             : "/south");
  path = path + paths.back();
 
  snprintf(buf, sizeof(buf), "/%02d",
           abs(map_node_config_->node_index_.zone_id_));
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.m_);
  paths.push_back(buf);
  path = path + buf;
 
  if (!CreateMapDirectoryRecursively(paths)) {
    return false;
  }
 
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.n_);
  path = path + buf;
 
  FILE* file = fopen(path.c_str(), "wb");
  if (file) {
    bool success = CreateBinary(file);
    fclose(file);
    is_changed_ = false;
    return success;
  } else {
    AERROR << "Can't write to file: " << path << ".";
    return false;
  }
}

SaveAltitudeImage() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveAltitudeImage

(

)

const

Save altitude image of node.

在文件 base_map_node.cc 第 476 行定义.

                                          {
  std::string path = map_config_->map_folder_path_;
 
  char buf[1024];
  std::vector<std::string> paths;
 
  paths.push_back(path);
 
  snprintf(buf, sizeof(buf), "/image_alt");
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%03u",
           map_node_config_->node_index_.resolution_id_);
  paths.push_back(buf);
  path = path + buf;
 
  paths.push_back(map_node_config_->node_index_.zone_id_ > 0 ? "/north"
                                                             : "/south");
  path = path + paths.back();
 
  snprintf(buf, sizeof(buf), "/%02d",
           abs(map_node_config_->node_index_.zone_id_));
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.m_);
  paths.push_back(buf);
  path = path + buf;
 
  if (!CreateMapDirectoryRecursively(paths)) {
    return false;
  }
 
  snprintf(buf, sizeof(buf), "/%08d.png", map_node_config_->node_index_.n_);
  path = path + buf;
 
  bool success = SaveAltitudeImage(path);
  return success;
}

SaveAltitudeImage() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveAltitudeImage

(

const std::string &

path

)

const

Save altitude image of node.

在文件 base_map_node.cc 第 517 行定义.

                                                               {
  cv::Mat image;
  map_matrix_->GetAltitudeImg(&image);
  if (image.empty()) {
    return false;
  }
 
  bool success = cv::imwrite(path, image);
  return success;
}

SaveIntensityImage() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveIntensityImage

(

)

const

Save intensity image of node.

在文件 base_map_node.cc 第 428 行定义.

                                           {
  std::string path = map_config_->map_folder_path_;
 
  char buf[1024];
  std::vector<std::string> paths;
 
  paths.push_back(path);
 
  snprintf(buf, sizeof(buf), "/image");
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%03u",
           map_node_config_->node_index_.resolution_id_);
  paths.push_back(buf);
  path = path + buf;
 
  paths.push_back(map_node_config_->node_index_.zone_id_ > 0 ? "/north"
                                                             : "/south");
  path = path + paths.back();
 
  snprintf(buf, sizeof(buf), "/%02d",
           abs(map_node_config_->node_index_.zone_id_));
  paths.push_back(buf);
  path = path + buf;
 
  snprintf(buf, sizeof(buf), "/%08d", map_node_config_->node_index_.m_);
  paths.push_back(buf);
  path = path + buf;
 
  if (!CreateMapDirectoryRecursively(paths)) {
    return false;
  }
 
  snprintf(buf, sizeof(buf), "/%08d.png", map_node_config_->node_index_.n_);
  path = path + buf;
 
  bool success = SaveIntensityImage(path);
  return success;
}

SaveIntensityImage() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveIntensityImage

(

const std::string &

path

)

const

Save intensity image of node.

在文件 base_map_node.cc 第 469 行定义.

                                                                {
  cv::Mat image;
  map_matrix_->GetIntensityImg(&image);
  bool success = cv::imwrite(path, image);
  return success;
}

SetIsChanged()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetIsChanged ( bool  is )

inline

Set if the map node data has changed.

在文件 base_map_node.h 第 116 行定义.

{ is_changed_ = is; }

SetIsReserved()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetIsReserved ( bool  is_reserved )

inline

Set if the map node is reserved.

在文件 base_map_node.h 第 107 行定义.

{ is_reserved_ = is_reserved; }

SetLeftTopCorner()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetLeftTopCorner ( double  x, double  y  )

inline

Set the left top corner of the map node.

在文件 base_map_node.h 第 126 行定义.

                                                   {
    left_top_corner_[0] = x;
    left_top_corner_[1] = y;
  }

SetMapNodeIndex()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetMapNodeIndex

(

const MapNodeIndex &

index

)

Set the map node index.

在文件 base_map_node.cc 第 350 行定义.

                                                           {
  map_node_config_->node_index_ = index;
  left_top_corner_ =
      ComputeLeftTopCorner(*map_config_, map_node_config_->node_index_);
}

类成员变量说明

compression_strategy_

std::shared_ptr<CompressionStrategy> apollo::localization::msf::pyramid_map::BaseMapNode::compression_strategy_ = nullptr

protected

@bried The compression strategy.

在文件 base_map_node.h 第 212 行定义.

data_is_ready_

bool apollo::localization::msf::pyramid_map::BaseMapNode::data_is_ready_ = false

protected

在文件 base_map_node.h 第 206 行定义.

file_body_binary_size_

size_t apollo::localization::msf::pyramid_map::BaseMapNode::file_body_binary_size_ = 0

mutableprotected

The body binary size in file.

在文件 base_map_node.h 第 208 行定义.

index_

MapNodeIndex apollo::localization::msf::pyramid_map::BaseMapNode::index_

protected

The index of this node

在文件 base_map_node.h 第 189 行定义.

is_changed_

bool apollo::localization::msf::pyramid_map::BaseMapNode::is_changed_ = false

protected

Has the map node been changed.

在文件 base_map_node.h 第 204 行定义.

is_reserved_

bool apollo::localization::msf::pyramid_map::BaseMapNode::is_reserved_ = false

protected

If the node is reserved in map.

在文件 base_map_node.h 第 202 行定义.

left_top_corner_

Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::left_top_corner_

protected

The left top corner of the map node in the global coordinate system.

在文件 base_map_node.h 第 193 行定义.

map_config_

const BaseMapConfig* apollo::localization::msf::pyramid_map::BaseMapNode::map_config_ = nullptr

protected

The map settings.

在文件 base_map_node.h 第 186 行定义.

map_matrix_

std::shared_ptr<BaseMapMatrix> apollo::localization::msf::pyramid_map::BaseMapNode::map_matrix_ = nullptr

protected

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

在文件 base_map_node.h 第 198 行定义.

map_matrix_handler_

std::shared_ptr<BaseMapMatrixHandler> apollo::localization::msf::pyramid_map::BaseMapNode::map_matrix_handler_ = nullptr

protected

The class to load and create map matrix binary.

在文件 base_map_node.h 第 200 行定义.

map_node_config_

std::shared_ptr<BaseMapNodeConfig> apollo::localization::msf::pyramid_map::BaseMapNode::map_node_config_ = nullptr

protected

The map node config.

在文件 base_map_node.h 第 196 行定义.

uncompressed_file_body_size_

size_t apollo::localization::msf::pyramid_map::BaseMapNode::uncompressed_file_body_size_ = 0

mutableprotected

在文件 base_map_node.h 第 210 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_node.h
• modules/localization/msf/local_pyramid_map/base_map/base_map_node.cc