base_map_config.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <map>
#include <string>
#include <vector>
 
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
 
#include "modules/localization/msf/common/util/rect2d.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_fwd.h"
 
namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {
 
enum class MapVersion {
  UNKNOWN,
  LOSSY_FULL_ALT_MAP,
  LOSSLESS_MAP,
  PYRAMID_LOSSY_MAP,
  PYRAMID_LOSSLESS_MAP
};
 
class BaseMapConfig {
 public:
  explicit BaseMapConfig(const std::string &map_version = "0.1");
  virtual ~BaseMapConfig();
  bool Save(const std::string &file_path);
  bool Load(const std::string &file_path);
  void SetMapVersion(const std::string &map_version);
  void SetMapNodeSize(unsigned int size_x, unsigned int size_y);
  void SetGroundHeightOffset(float map_ground_height_offset);
  void SetIsCompression(bool map_is_compression);
  void ResizeMapRange();
  void SetSingleResolutions(float resolution = 0.125);
  void SetMultiResolutions();
  void SetNodeMd5Map(const std::map<std::string, std::string> &node_md5_map);
  void AddNodeMd5(const std::string &node_path, const std::string &md5);
  MapVersion GetMapVersion() const;
 
  std::string map_version_ = "";
  std::vector<float> map_resolutions_;
  unsigned int map_node_size_x_ = 0;
  unsigned int map_node_size_y_ = 0;
  Rect2D<double> map_range_;
 
  float map_ground_height_offset_ = 0.0f;
  bool map_is_compression_ = false;
 
  std::string map_folder_path_ = "";
  std::vector<std::string> map_datasets_;
  std::map<std::string, std::string> node_md5_map_;
 
  std::string coordinate_type_ = "";
 
 protected:
  virtual bool CreateXml(boost::property_tree::ptree *config) const;
  virtual bool LoadXml(const boost::property_tree::ptree &config);
};
 
}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo