apollo::localization::msf::pyramid_map::PyramidMapConfig类 参考

#include <pyramid_map_config.h>

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

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

Public 成员函数
	PyramidMapConfig (const std::string &map_version)
	~PyramidMapConfig ()
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
bool	has_intensity_ = true
bool	has_intensity_var_ = true
bool	has_altitude_ = true
bool	has_altitude_var_ = true
bool	has_ground_altitude_ = true
bool	has_count_ = true
bool	has_ground_count_ = true
unsigned int	resolution_num_ = 1
unsigned int	resolution_ratio_ = 2
std::string	coordinate_type_ = ""
	coordinate type.
float	max_intensity_value_ = 0.0
	During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image.
float	max_intensity_var_value_ = 0.0
	During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image.
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 (const boost::property_tree::ptree &config)
	Load the map options from a XML structure.

详细描述

在文件 pyramid_map_config.h 第 26 行定义.

构造及析构函数说明

PyramidMapConfig()

apollo::localization::msf::pyramid_map::PyramidMapConfig::PyramidMapConfig ( const std::string &  map_version )

explicit

在文件 pyramid_map_config.cc 第 25 行定义.

    : BaseMapConfig(map_version) {}

~PyramidMapConfig()

apollo::localization::msf::pyramid_map::PyramidMapConfig::~PyramidMapConfig

(

)

在文件 pyramid_map_config.cc 第 28 行定义.

{}

成员函数说明

CreateXml()

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

protectedvirtual

Create the XML structure.

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

在文件 pyramid_map_config.cc 第 30 行定义.

                                                                      {
  bool success = BaseMapConfig::CreateXml(config);
  if (success) {
    config->put("map.map_config.has_intensity", has_intensity_);
    config->put("map.map_config.has_intensity_var", has_intensity_var_);
    config->put("map.map_config.has_altitude", has_altitude_);
    config->put("map.map_config.has_altitude_var", has_altitude_var_);
    config->put("map.map_config.has_ground_altitude", has_ground_altitude_);
    config->put("map.map_config.has_count", has_count_);
    config->put("map.map_config.has_ground_count", has_ground_count_);
    config->put("map.map_config.resolution_num", resolution_num_);
    config->put("map.map_config.resolution_ratio", resolution_ratio_);
    config->put("map.map_config.coordinate_type", coordinate_type_);
    config->put("map.map_runtime.max_intensity_value", max_intensity_value_);
    config->put("map.map_runtime.max_intensity_var_value",
                max_intensity_var_value_);
    return true;
  } else {
    return false;
  }
}

LoadXml()

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

protectedvirtual

Load the map options from a XML structure.

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

在文件 pyramid_map_config.cc 第 52 行定义.

                                                                    {
  bool success = BaseMapConfig::LoadXml(config);
  if (success) {
    auto has_intensity =
        config.get_optional<bool>("map.map_config.has_intensity");
    auto has_intensity_var =
        config.get_optional<bool>("map.map_config.has_intensity_var");
    auto has_altitude =
        config.get_optional<bool>("map.map_config.has_altitude");
    auto has_altitude_var =
        config.get_optional<bool>("map.map_config.has_altitude_var");
    auto has_ground_altitude =
        config.get_optional<bool>("map.map_config.has_ground_altitude");
    auto has_count = config.get_optional<bool>("map.map_config.has_count");
    auto has_ground_count =
        config.get_optional<bool>("map.map_config.has_ground_count");
    auto resolution_num =
        config.get_optional<unsigned int>("map.map_config.resolution_num");
    auto resolution_ratio =
        config.get_optional<unsigned int>("map.map_config.resolution_ratio");
    auto coordinate_type =
        config.get_optional<std::string>("map.map_config.coordinate_type");
    auto max_intensity_value =
        config.get_optional<float>("map.map_runtime.max_intensity_value");
    auto max_intensity_var_value =
        config.get_optional<float>("map.map_runtime.max_intensity_var_value");
 
    if (has_intensity) {
      has_intensity_ = *has_intensity;
    }
 
    if (has_intensity_var) {
      has_intensity_var_ = *has_intensity_var;
    }
 
    if (has_altitude) {
      has_altitude_ = *has_altitude;
    }
 
    if (has_altitude_var) {
      has_altitude_var_ = *has_altitude_var;
    }
 
    if (has_ground_altitude) {
      has_ground_altitude_ = *has_ground_altitude;
    }
 
    if (has_count) {
      has_count_ = *has_count;
    }
 
    if (has_ground_count) {
      has_ground_count_ = *has_ground_count;
    }
 
    if (resolution_num) {
      resolution_num_ = *resolution_num;
    }
 
    if (resolution_ratio) {
      resolution_ratio_ = *resolution_ratio;
    }
 
    if (coordinate_type) {
      coordinate_type_ = *coordinate_type;
    }
 
    if (max_intensity_value) {
      max_intensity_value_ = *max_intensity_value;
    }
 
    if (max_intensity_var_value) {
      max_intensity_var_value_ = *max_intensity_var_value;
    }
 
    return true;
  }
 
  return false;
}

类成员变量说明

coordinate_type_

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

coordinate type.

在文件 pyramid_map_config.h 第 41 行定义.

has_altitude_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_altitude_ = true

在文件 pyramid_map_config.h 第 33 行定义.

has_altitude_var_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_altitude_var_ = true

在文件 pyramid_map_config.h 第 34 行定义.

has_count_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_count_ = true

在文件 pyramid_map_config.h 第 36 行定义.

has_ground_altitude_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_ground_altitude_ = true

在文件 pyramid_map_config.h 第 35 行定义.

has_ground_count_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_ground_count_ = true

在文件 pyramid_map_config.h 第 37 行定义.

has_intensity_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_intensity_ = true

在文件 pyramid_map_config.h 第 31 行定义.

has_intensity_var_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_intensity_var_ = true

在文件 pyramid_map_config.h 第 32 行定义.

max_intensity_value_

float apollo::localization::msf::pyramid_map::PyramidMapConfig::max_intensity_value_ = 0.0

During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image.

在文件 pyramid_map_config.h 第 44 行定义.

max_intensity_var_value_

float apollo::localization::msf::pyramid_map::PyramidMapConfig::max_intensity_var_value_ = 0.0

During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image.

在文件 pyramid_map_config.h 第 48 行定义.

resolution_num_

unsigned int apollo::localization::msf::pyramid_map::PyramidMapConfig::resolution_num_ = 1

在文件 pyramid_map_config.h 第 38 行定义.

resolution_ratio_

unsigned int apollo::localization::msf::pyramid_map::PyramidMapConfig::resolution_ratio_ = 2

在文件 pyramid_map_config.h 第 39 行定义.

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该类的文档由以下文件生成:

• modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h
• modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.cc