apollo::perception::lidar::MapManager类 参考

#include <map_manager.h>

apollo::perception::lidar::MapManager 的协作图:

Public 成员函数
	MapManager ()=default
	Construct a new Map Manager object
	~MapManager ()=default
	Destroy the Map Manager object
bool	Init (const MapManagerInitOptions &options=MapManagerInitOptions())
	Init of Map Manager
bool	Update (const MapManagerOptions &options, LidarFrame *frame)
	update map structure and lidar2world pose
bool	QueryPose (Eigen::Affine3d *sensor2world_pose) const
	Query the pose
std::string	Name () const
	Name of Map Manager

详细描述

在文件 map_manager.h 第 41 行定义.

构造及析构函数说明

MapManager()

apollo::perception::lidar::MapManager::MapManager ( )

default

Construct a new Map Manager object

~MapManager()

apollo::perception::lidar::MapManager::~MapManager ( )

default

Destroy the Map Manager object

成员函数说明

Init()

bool apollo::perception::lidar::MapManager::Init

(

const MapManagerInitOptions &

options = MapManagerInitOptions()

)

Init of Map Manager

参数

options

map manager init options

返回

true

false

在文件 map_manager.cc 第 27 行定义.

                                                          {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  MapManagerConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
  update_pose_ = config.update_pose();
  roi_search_distance_ = config.roi_search_distance();
  hdmap_input_ = map::HDMapInput::Instance();
  if (!hdmap_input_->Init()) {
    AINFO << "Failed to init hdmap input.";
    return false;
  }
  return true;
}

Name()

std::string apollo::perception::lidar::MapManager::Name ( ) const

inline

Name of Map Manager

返回

std::string

在文件 map_manager.h 第 88 行定义.

{ return "MapManager"; }

QueryPose()

bool apollo::perception::lidar::MapManager::QueryPose

(

Eigen::Affine3d *

sensor2world_pose

)

const

Query the pose

参数

sensor2world_pose

sensor to world pose

返回

true

false

在文件 map_manager.cc 第 74 行定义.

                                                                 {
  // TODO(...): map-based alignment to refine pose
  return false;
}

Update()

bool apollo::perception::lidar::MapManager::Update	(	const MapManagerOptions &	options,
		LidarFrame *	frame
	)

update map structure and lidar2world pose

参数

options	map manager options
frame	lidar frame

返回

true

false

在文件 map_manager.cc 第 42 行定义.

                                                                           {
  if (!frame) {
    AINFO << "Frame is nullptr.";
    return false;
  }
  if (!(frame->hdmap_struct)) {
    frame->hdmap_struct.reset(new base::HdmapStruct);
  }
  if (!hdmap_input_) {
    AINFO << "Hdmap input is nullptr";
    return false;
  }
  if (update_pose_) {
    if (!QueryPose(&(frame->lidar2world_pose))) {
      AINFO << "Failed to query updated pose.";
    }
  }
  base::PointD point;
  point.x = frame->lidar2world_pose.translation()(0);
  point.y = frame->lidar2world_pose.translation()(1);
  point.z = frame->lidar2world_pose.translation()(2);
  if (!hdmap_input_->GetRoiHDMapStruct(point, roi_search_distance_,
                                       frame->hdmap_struct)) {
    frame->hdmap_struct->road_polygons.clear();
    frame->hdmap_struct->road_boundary.clear();
    frame->hdmap_struct->hole_polygons.clear();
    frame->hdmap_struct->junction_polygons.clear();
    AINFO << "Failed to get roi from hdmap.";
  }
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/pointcloud_map_based_roi/map_manager/map_manager.h
• modules/perception/pointcloud_map_based_roi/map_manager/map_manager.cc