The options of the reflectance map. 更多...

#include <ndt_map_config.h>

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

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

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

	~NdtMapConfig ()

void	SetSingleResolutionZ (float resolution=1.0f)
	Set single resolutions.

void	SetMultiResolutionsZ ()
	Set multi resolutions.

Public 成员函数继承自 apollo::localization::msf::pyramid_map::BaseMapConfig
	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::vector< float >	map_resolutions_z_
	The resolution of z-axis.

bool	map_is_compression_
	Enable the compression.

Public 属性继承自 apollo::localization::msf::pyramid_map::BaseMapConfig
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 (boost::property_tree::ptree *config)
	Load the map options from a XML structure.

Protected 成员函数继承自 apollo::localization::msf::pyramid_map::BaseMapConfig
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 ndt_map_config.h 第 29 行定义.

构造及析构函数说明

◆ NdtMapConfig()

apollo::localization::msf::pyramid_map::NdtMapConfig::NdtMapConfig ( std::string map_version = "0.1" )

explicit

The constructor gives the default map settings.

在文件 ndt_map_config.cc 第 27 行定义.

    : BaseMapConfig(map_version) {
  map_is_compression_ = true;
  map_resolutions_z_.push_back(1.0f);
}

◆ ~NdtMapConfig()

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

inline

在文件 ndt_map_config.h 第 33 行定义.

33{}

成员函数说明

◆ CreateXml()

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

protectedvirtual

Create the XML structure.

重载 apollo::localization::msf::pyramid_map::BaseMapConfig .

在文件 ndt_map_config.cc 第 52 行定义.

                                                                  {
  BaseMapConfig::CreateXml(config);
  config->put("map.map_config.compression", map_is_compression_);
  for (size_t i = 0; i < map_resolutions_.size(); ++i) {
    config->add("map.map_config.resolutions_z.resolution",
                map_resolutions_z_[i]);
  }
  return true;
}

◆ LoadXml()

bool apollo::localization::msf::pyramid_map::NdtMapConfig::LoadXml ( boost::property_tree::ptree * config )

protectedvirtual

Load the map options from a XML structure.

在文件 ndt_map_config.cc 第 62 行定义.

                                                          {
  BaseMapConfig::LoadXml(*config);
  map_is_compression_ = config->get<bool>("map.map_config.compression");
  map_resolutions_z_.clear();
  const auto& resolutions_z = config->get_child("map.map_config.resolutions_z");
  std::for_each(resolutions_z.begin(), resolutions_z.end(),
                [this](const boost::property_tree::ptree::value_type& v) {
                  map_resolutions_z_.push_back(
                      static_cast<float>(atof(v.second.data().c_str())));
                });
  return true;
}

◆ SetMultiResolutionsZ()

void apollo::localization::msf::pyramid_map::NdtMapConfig::SetMultiResolutionsZ ( )

Set multi resolutions.

在文件 ndt_map_config.cc 第 38 行定义.

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

◆ SetSingleResolutionZ()

void apollo::localization::msf::pyramid_map::NdtMapConfig::SetSingleResolutionZ ( float resolution = 1.0f )

Set single resolutions.

在文件 ndt_map_config.cc 第 33 行定义.

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

类成员变量说明

◆ map_is_compression_

bool apollo::localization::msf::pyramid_map::NdtMapConfig::map_is_compression_

Enable the compression.

在文件 ndt_map_config.h 第 44 行定义.

◆ map_resolutions_z_

std::vector<float> apollo::localization::msf::pyramid_map::NdtMapConfig::map_resolutions_z_

The resolution of z-axis.

在文件 ndt_map_config.h 第 41 行定义.

该类的文档由以下文件生成:

modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_config.h
modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_config.cc

Public 成员函数

Public 属性

Protected 成员函数