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

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

#include <ndt_map_matrix.h>

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

apollo::localization::msf::pyramid_map::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 ()
	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 size_t	LoadBinary (const unsigned char *buf)
	Load the map cell from a binary chunk.
virtual size_t	CreateBinary (unsigned char *buf, size_t buf_size) const
	Create the binary.
virtual size_t	GetBinarySize () const
	Get the binary size of the object.
virtual bool	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::pyramid_map::BaseMapMatrix
	BaseMapMatrix ()
	The default constructor.
virtual	~BaseMapMatrix ()
	The deconstructor.
	BaseMapMatrix (const BaseMapMatrix &map_matrix)
	The copy constructor.
virtual bool	GetAltitudeImg (cv::Mat *altitude_img) const
	get altitude image of node.

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::pyramid_map::NdtMapMatrix::NdtMapMatrix

(

)

The default constructor.

在文件 ndt_map_matrix.cc 第 412 行定义.

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

~NdtMapMatrix()

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

(

)

The default destructor.

在文件 ndt_map_matrix.cc 第 418 行定义.

{}

NdtMapMatrix() [2/2]

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

(

const NdtMapMatrix &

cells

)

The copy constructor.

在文件 ndt_map_matrix.cc 第 420 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()

size_t apollo::localization::msf::pyramid_map::NdtMapMatrix::CreateBinary ( unsigned char *  buf, size_t  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.

在文件 ndt_map_matrix.cc 第 468 行定义.

                                                                           {
  size_t 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);
        size_t processed_size = cell.CreateBinary(pp, buf_size);
        assert(buf_size >= processed_size);
        buf_size -= processed_size;
        pp += processed_size;
      }
    }
  }
  return target_size;
}

GetBinarySize()

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

virtual

Get the binary size of the object.

在文件 ndt_map_matrix.cc 第 491 行定义.

                                         {
  size_t target_size = 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::pyramid_map::NdtMapMatrix::GetCols ( ) const

inline

Get the size of cols.

在文件 ndt_map_matrix.h 第 189 行定义.

{ return cols_; }

GetIntensityImg()

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

virtual

get intensity image of node.

重载 apollo::localization::msf::pyramid_map::BaseMapMatrix .

在文件 ndt_map_matrix.cc 第 512 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_);
    }
  }
  return true;
}

GetMapCell() [1/2]

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

inline

Get a map cell.

在文件 ndt_map_matrix.h 第 181 行定义.

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

GetMapCell() [2/2]

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

inline

Get a const map cell.

在文件 ndt_map_matrix.h 第 174 行定义.

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

GetRows()

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

inline

Get the size of row.

在文件 ndt_map_matrix.h 第 187 行定义.

{ return rows_; }

Init() [1/2]

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

virtual

Initialize the matrix with the config.

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

在文件 ndt_map_matrix.cc 第 431 行定义.

                                                   {
  Init(config.map_node_size_y_, config.map_node_size_x_);
}

Init() [2/2]

void apollo::localization::msf::pyramid_map::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 437 行定义.

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

LoadBinary()

size_t apollo::localization::msf::pyramid_map::NdtMapMatrix::LoadBinary ( const unsigned char *  buf )

virtual

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

在文件 ndt_map_matrix.cc 第 450 行定义.

                                                        {
  const unsigned int* p = reinterpret_cast<const unsigned int*>(buf);
  rows_ = *p;
  ++p;
  cols_ = *p;
  ++p;
  Init(rows_, cols_);
  const unsigned char* pp = reinterpret_cast<const unsigned char*>(p);
  for (unsigned int y = 0; y < rows_; ++y) {
    for (unsigned int x = 0; x < cols_; ++x) {
      NdtMapCells& cell = GetMapCell(y, x);
      size_t processed_size = cell.LoadBinary(pp);
      pp += processed_size;
    }
  }
  return GetBinarySize();
}

Reduce()

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

static

Combine two NdtMapMatrix instances (Reduce).

在文件 ndt_map_matrix.cc 第 502 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::pyramid_map::NdtMapMatrix::Reset ( )

virtual

Reset the matrix item to default value.

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

在文件 ndt_map_matrix.cc 第 435 行定义.

{ Reset(rows_, cols_); }

Reset() [2/2]

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

Reset the matrix item to default value.

在文件 ndt_map_matrix.cc 第 443 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_pyramid_map/ndt_map/ndt_map_matrix.h
• modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_matrix.cc