apollo::localization::msf::pyramid_map::PyramidMapNode类 参考

#include <pyramid_map_node.h>

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

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

Public 成员函数
	PyramidMapNode ()
	~PyramidMapNode ()
virtual void	Init (const BaseMapConfig *map_config)
	Initialize the map node.
virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)
void	BottomUpSafe ()
	Propagate the data to the coarse resolution by check.
void	BottomUpBase ()
	Propagate the data to the coarse resolution.
bool	AddValueIfInBound (const Eigen::Vector3d &coordinate, unsigned char intensity, unsigned int level=0)
	Add the value of a pixel in the map node if the pixel in the node.
void	AddValueIfInBound (const std::vector< Eigen::Vector3d > &coordinates, const std::vector< unsigned char > &intensity, unsigned int level=0)
	Add the value of a pixel in the map node if the pixel in the node.
bool	GetCoordinate (const Eigen::Vector2d &coordinate, unsigned int level, unsigned int *x, unsigned int *y) const
	Given the global coordinate, get the local 2D coordinate of the map cell matrix.
Eigen::Vector2d	GetCoordinate (unsigned int level, unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate.
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.
float	GetIntensitySafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell intensity with check.
float	GetIntensityVarSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell variance of the intensity with check.
float	GetAltitudeSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's average altitude with check.
float	GetAltitudeVarSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's variance of the altitude with check.
float	GetGroundAltitudeSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's average ground altitude with check.
unsigned int	GetCountSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's count of the samples with check.
unsigned int	GetGroundCountSafe (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's count of the ground samples with check.
float	GetIntensity (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell intensity without check.
float	GetIntensityVar (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell variance of the intensity without check.
float	GetAltitude (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's average altitude without check.
float	GetAltitudeVar (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's variance of the altitude without check.
float	GetGroundAltitude (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's average ground altitude without check.
unsigned int	GetCount (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's count of the samples without check.
unsigned int	GetGroundCount (const Eigen::Vector3d &coordinate, unsigned int level=0) const
	Given the 3D global coordinate, get the map cell's count of the ground samples without check.
double	ComputeMeanIntensity (unsigned int level=0)
	Compute mean intensity.
Public 成员函数 继承自 apollo::localization::msf::pyramid_map::BaseMapNode
	BaseMapNode ()
	Construct a map node.
	BaseMapNode (BaseMapMatrix *matrix, CompressionStrategy *strategy)
	Construct a map node.
virtual	~BaseMapNode ()
	Destruct a map node.
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)
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.

额外继承的成员函数
静态 Public 成员函数 继承自 apollo::localization::msf::pyramid_map::BaseMapNode
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 继承自 apollo::localization::msf::pyramid_map::BaseMapNode
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 继承自 apollo::localization::msf::pyramid_map::BaseMapNode
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

在文件 pyramid_map_node.h 第 30 行定义.

构造及析构函数说明

PyramidMapNode()

apollo::localization::msf::pyramid_map::PyramidMapNode::PyramidMapNode

(

)

在文件 pyramid_map_node.cc 第 29 行定义.

{}

~PyramidMapNode()

apollo::localization::msf::pyramid_map::PyramidMapNode::~PyramidMapNode

(

)

在文件 pyramid_map_node.cc 第 31 行定义.

{}

成员函数说明

AddValueIfInBound() [1/2]

bool apollo::localization::msf::pyramid_map::PyramidMapNode::AddValueIfInBound	(	const Eigen::Vector3d &	coordinate,
		unsigned char	intensity,
		unsigned int	level = 0
	)

Add the value of a pixel in the map node if the pixel in the node.

参数

<coordinate>	The 3D global coordinate.
<intensity>	The reflectance intensity.
<return>	True, if pixel in the bound of the node, else False.

在文件 pyramid_map_node.cc 第 114 行定义.

                                                           {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  //    Eigen::Map<Eigen::Vector2d>(coordinate.data(), 2);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    map_matrix->AddSampleBase(static_cast<float>(intensity),
                              static_cast<float>(coordinate[2]), y, x, level);
    return true;
  } else {
    return false;
  }
}

AddValueIfInBound() [2/2]

void apollo::localization::msf::pyramid_map::PyramidMapNode::AddValueIfInBound	(	const std::vector< Eigen::Vector3d > &	coordinates,
		const std::vector< unsigned char > &	intensity,
		unsigned int	level = 0
	)

Add the value of a pixel in the map node if the pixel in the node.

参数

<coordinates>	The 3D global coordinates.
<intensities>	The reflectance intensities.

在文件 pyramid_map_node.cc 第 133 行定义.

                                                                   {
  if (coordinates.size() != intensity.size()) {
    return;
  }
 
  for (unsigned int i = 0; i < coordinates.size(); i++) {
    AddValueIfInBound(coordinates[i], intensity[i], level);
  }
}

BottomUpBase()

void apollo::localization::msf::pyramid_map::PyramidMapNode::BottomUpBase

(

)

Propagate the data to the coarse resolution.

only update count, intensity, intensity var and altitude

在文件 pyramid_map_node.cc 第 102 行定义.

                                  {
  std::shared_ptr<PyramidMapMatrix> map_matrix =
      std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
  map_matrix->BottomUpBase();
}

BottomUpSafe()

void apollo::localization::msf::pyramid_map::PyramidMapNode::BottomUpSafe

(

)

Propagate the data to the coarse resolution by check.

在文件 pyramid_map_node.cc 第 108 行定义.

                                  {
  std::shared_ptr<PyramidMapMatrix> map_matrix =
      std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
  map_matrix->BottomUpSafe();
}

ComputeMeanIntensity()

double apollo::localization::msf::pyramid_map::PyramidMapNode::ComputeMeanIntensity

(

unsigned int

level = 0

)

Compute mean intensity.

在文件 pyramid_map_node.cc 第 495 行定义.

                                                              {
  std::shared_ptr<PyramidMapMatrix> map_matrix =
      std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
  return map_matrix->ComputeMeanIntensity(level);
}

GetAltitude()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetAltitude	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's average altitude without check.

在文件 pyramid_map_node.cc 第 388 行定义.

                                                            {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float altitude = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* altitude_ptr = map_matrix->GetAltitude(y, x, level);
 
    if (altitude_ptr != nullptr) {
      altitude = *altitude_ptr;
    }
  }
 
  return altitude;
}

GetAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's average altitude with check.

在文件 pyramid_map_node.cc 第 239 行定义.

                                                                {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float altitude = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* altitude_ptr = map_matrix->GetAltitudeSafe(y, x, level);
 
    if (altitude_ptr != nullptr) {
      altitude = *altitude_ptr;
    }
  }
 
  return altitude;
}

GetAltitudeVar()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetAltitudeVar	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's variance of the altitude without check.

在文件 pyramid_map_node.cc 第 409 行定义.

                                                               {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float altitude_var = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* altitude_var_ptr = map_matrix->GetAltitudeVar(y, x, level);
 
    if (altitude_var_ptr != nullptr) {
      altitude_var = *altitude_var_ptr;
    }
  }
 
  return altitude_var;
}

GetAltitudeVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetAltitudeVarSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's variance of the altitude with check.

在文件 pyramid_map_node.cc 第 260 行定义.

                                                                   {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float altitude_var = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* altitude_var_ptr = map_matrix->GetAltitudeVarSafe(y, x, level);
 
    if (altitude_var_ptr != nullptr) {
      altitude_var = *altitude_var_ptr;
    }
  }
 
  return altitude_var;
}

GetCoordinate() [1/5]

bool apollo::localization::msf::pyramid_map::PyramidMapNode::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.

重载 apollo::localization::msf::pyramid_map::BaseMapNode .

在文件 pyramid_map_node.cc 第 182 行定义.

                                                                           {
  return BaseMapNode::GetCoordinate(coordinate, x, y);
}

GetCoordinate() [2/5]

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

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.

在文件 pyramid_map_node.cc 第 145 行定义.

                                                          {
  std::shared_ptr<PyramidMapMatrix> map_matrix =
      std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
 
  const float& current_resolution = resolutions_mr_[level];
 
  unsigned int off_x = static_cast<unsigned int>(
      (coordinate[0] - left_top_corner_[0]) / current_resolution);
  unsigned int off_y = static_cast<unsigned int>(
      (coordinate[1] - left_top_corner_[1]) / current_resolution);
  if (off_x < map_matrix->GetCols(level) &&
      off_y < map_matrix->GetRows(level)) {
    *x = off_x;
    *y = off_y;
    return true;
  }
  return false;
}

GetCoordinate() [3/5]

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

virtual

重载 apollo::localization::msf::pyramid_map::BaseMapNode .

在文件 pyramid_map_node.cc 第 186 行定义.

                                                                           {
  return BaseMapNode::GetCoordinate(coordinate, x, y);
}

GetCoordinate() [4/5]

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

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

在文件 pyramid_map_node.cc 第 166 行定义.

                                                                    {
  const PyramidMapConfig* map_config =
      dynamic_cast<const PyramidMapConfig*>(map_config_);
 
  float current_resolution =
      static_cast<float>(map_config->map_resolutions_[0] *
                         std::pow(map_config->resolution_ratio_, level));
 
  Eigen::Vector2d coord;
  coord[0] = left_top_corner_[0] + current_resolution * static_cast<float>(x);
  coord[1] = left_top_corner_[1] + current_resolution * static_cast<float>(y);
  return coord;
}

GetCoordinate() [5/5]

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

virtual

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

重载 apollo::localization::msf::pyramid_map::BaseMapNode .

在文件 pyramid_map_node.cc 第 191 行定义.

                                                                    {
  return BaseMapNode::GetCoordinate(x, y);
}

GetCount()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapNode::GetCount	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's count of the samples without check.

在文件 pyramid_map_node.cc 第 452 行定义.

                                                                {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  unsigned int count = 0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const unsigned int* count_ptr = map_matrix->GetCount(y, x, level);
 
    if (count_ptr != nullptr) {
      count = *count_ptr;
    }
  }
 
  return count;
}

GetCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapNode::GetCountSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's count of the samples with check.

在文件 pyramid_map_node.cc 第 303 行定义.

                                                                    {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  unsigned int count = 0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const unsigned int* count_ptr = map_matrix->GetCountSafe(y, x, level);
 
    if (count_ptr != nullptr) {
      count = *count_ptr;
    }
  }
 
  return count;
}

GetGroundAltitude()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetGroundAltitude	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's average ground altitude without check.

在文件 pyramid_map_node.cc 第 430 行定义.

                                                                  {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float ground_altitude = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* ground_altitude_ptr =
        map_matrix->GetGroundAltitude(y, x, level);
 
    if (ground_altitude_ptr != nullptr) {
      ground_altitude = *ground_altitude_ptr;
    }
  }
 
  return ground_altitude;
}

GetGroundAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetGroundAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's average ground altitude with check.

在文件 pyramid_map_node.cc 第 281 行定义.

                                                                      {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float ground_altitude = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* ground_altitude_ptr =
        map_matrix->GetGroundAltitudeSafe(y, x, level);
 
    if (ground_altitude_ptr != nullptr) {
      ground_altitude = *ground_altitude_ptr;
    }
  }
 
  return ground_altitude;
}

GetGroundCount()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapNode::GetGroundCount	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's count of the ground samples without check.

在文件 pyramid_map_node.cc 第 473 行定义.

                                                                      {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  unsigned int ground_count = 0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const unsigned int* ground_count_ptr =
        map_matrix->GetGroundCount(y, x, level);
 
    if (ground_count_ptr != nullptr) {
      ground_count = *ground_count_ptr;
    }
  }
 
  return ground_count;
}

GetGroundCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapNode::GetGroundCountSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell's count of the ground samples with check.

在文件 pyramid_map_node.cc 第 324 行定义.

                                                               {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  unsigned int ground_count = 0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const unsigned int* ground_count_ptr =
        map_matrix->GetGroundCountSafe(y, x, level);
 
    if (ground_count_ptr != nullptr) {
      ground_count = *ground_count_ptr;
    }
  }
 
  return ground_count;
}

GetIntensity()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetIntensity	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell intensity without check.

在文件 pyramid_map_node.cc 第 346 行定义.

                                                             {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float intensity = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* intensity_ptr = map_matrix->GetIntensity(y, x, level);
 
    if (intensity_ptr != nullptr) {
      intensity = *intensity_ptr;
    }
  }
 
  return intensity;
}

GetIntensitySafe()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetIntensitySafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell intensity with check.

在文件 pyramid_map_node.cc 第 196 行定义.

                                                                 {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float intensity = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* intensity_ptr = map_matrix->GetIntensitySafe(y, x, level);
 
    if (intensity_ptr != nullptr) {
      intensity = *intensity_ptr;
    }
  }
 
  return intensity;
}

GetIntensityVar()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetIntensityVar	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell variance of the intensity without check.

在文件 pyramid_map_node.cc 第 367 行定义.

                                                                {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float intensity_var = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* intensity_var_ptr = map_matrix->GetIntensityVar(y, x, level);
 
    if (intensity_var_ptr != nullptr) {
      intensity_var = *intensity_var_ptr;
    }
  }
 
  return intensity_var;
}

GetIntensityVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMapNode::GetIntensityVarSafe	(	const Eigen::Vector3d &	coordinate,
		unsigned int	level = 0
	)		const

Given the 3D global coordinate, get the map cell variance of the intensity with check.

在文件 pyramid_map_node.cc 第 217 行定义.

                                                                    {
  Eigen::Vector2d coord2d(coordinate[0], coordinate[1]);
  unsigned int x = 0;
  unsigned int y = 0;
  bool is_success = GetCoordinate(coord2d, level, &x, &y);
 
  float intensity_var = 0.0;
  if (is_success) {
    std::shared_ptr<PyramidMapMatrix> map_matrix =
        std::dynamic_pointer_cast<PyramidMapMatrix>(map_matrix_);
    const float* intensity_var_ptr =
        map_matrix->GetIntensityVarSafe(y, x, level);
 
    if (intensity_var_ptr != nullptr) {
      intensity_var = *intensity_var_ptr;
    }
  }
 
  return intensity_var;
}

Init() [1/2]

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

virtual

Initialize the map node.

Call this function first before use it!

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

在文件 pyramid_map_node.cc 第 33 行定义.

                                                         {
  map_config_ = map_config;
 
  map_node_config_.reset(new PyramidMapNodeConfig());
  map_node_config_->map_version_ = map_config_->GetMapVersion();
  if (map_node_config_->map_version_ == MapVersion::LOSSY_FULL_ALT_MAP ||
      map_node_config_->map_version_ == MapVersion::LOSSLESS_MAP) {
    map_node_config_->has_map_version_ = false;
    map_node_config_->has_body_md5_ = false;
  } else {
    map_node_config_->has_map_version_ = true;
    map_node_config_->has_body_md5_ = true;
  }
 
  is_reserved_ = false;
  data_is_ready_ = false;
  is_changed_ = false;
 
  map_matrix_.reset(new PyramidMapMatrix());
  map_matrix_handler_.reset(
      PyramidMapMatrixHandlerSelector::AllocPyramidMapMatrixHandler(
          map_node_config_->map_version_));
  compression_strategy_.reset(new ZlibStrategy());
 
  const PyramidMapConfig* pm_map_config =
      dynamic_cast<const PyramidMapConfig*>(map_config_);
  resolutions_mr_.resize(pm_map_config->resolution_num_, 0);
  for (unsigned int i = 0; i < resolutions_mr_.size(); ++i) {
    resolutions_mr_[i] =
        static_cast<float>(pm_map_config->map_resolutions_[0] *
                           std::pow(pm_map_config->resolution_ratio_, i));
  }
 
  InitMapMatrix(map_config_);
}

Init() [2/2]

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

virtual

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

在文件 pyramid_map_node.cc 第 69 行定义.

                                                                            {
  map_config_ = map_config;
 
  map_node_config_.reset(new PyramidMapNodeConfig());
  map_node_config_->node_index_ = index;
  map_node_config_->map_version_ = map_config_->GetMapVersion();
  if (map_node_config_->map_version_ == MapVersion::LOSSY_FULL_ALT_MAP ||
      map_node_config_->map_version_ == MapVersion::LOSSLESS_MAP) {
    map_node_config_->has_map_version_ = false;
    map_node_config_->has_body_md5_ = false;
  } else {
    map_node_config_->has_map_version_ = true;
    map_node_config_->has_body_md5_ = true;
  }
 
  left_top_corner_ =
      ComputeLeftTopCorner(*map_config_, map_node_config_->node_index_);
  is_reserved_ = false;
  data_is_ready_ = false;
  is_changed_ = false;
 
  map_matrix_.reset(new PyramidMapMatrix());
  map_matrix_handler_.reset(
      PyramidMapMatrixHandlerSelector::AllocPyramidMapMatrixHandler(
          map_node_config_->map_version_));
  compression_strategy_.reset(new ZlibStrategy());
 
  if (create_map_cells) {
    InitMapMatrix(map_config_);
  }
}

---

该类的文档由以下文件生成:

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