apollo::localization::msf::LosslessMapCell结构体 参考

The multiple layers of the cell. 更多...

#include <lossless_map_matrix.h>

apollo::localization::msf::LosslessMapCell 的协作图:

Public 成员函数
	LosslessMapCell ()
	The default constructor.
void	Reset ()
	Reset to default value.
void	SetValueLayer (double altitude, unsigned char intensity, double altitude_thres=10.0)
	Set the value of a layer that layer_id > 0.
void	SetValue (double altitude, unsigned char intensity)
	Set the value.
unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk.
unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary.
unsigned int	GetBinarySize () const
	Get the binary size of the object.
unsigned int	GetLayerId (double altitude) const
	Match a layer in the map cell given an altitude.
void	GetValue (std::vector< unsigned char > *values) const
	Load the map cell from a binary chunk.
void	GetVar (std::vector< float > *vars) const
	Get the variance of the intensity of all layers in the map cell.
void	GetAlt (std::vector< float > *alts) const
	Get the average altitude of all layers in the map cell.
void	GetAltVar (std::vector< float > *alt_vars) const
	Get the variance of the altitude of all layers in the map cell.
void	GetCount (std::vector< unsigned int > *counts) const
	Get the count of the samples of all layers in the map cell.
unsigned char	GetValue () const
	Get the average intensity of the map cell.
float	GetVar () const
	Get the variance of the intensity of the map cell.
float	GetAlt () const
	Get the average altitude of the map cell.
float	GetAltVar () const
	Get the variance of the altitude of the map cell.
unsigned int	GetCount () const
	Get the count of the samples in the map cell.
LosslessMapSingleCell &	GetLayer (unsigned int layer_id)
	Get a particular layer in the map cell.
const LosslessMapSingleCell &	GetLayer (unsigned int layer_id) const
	Get a perticular layer in the map cell.

Public 属性
unsigned int	layer_num
	The layers of the cell.
LosslessMapSingleCell	map_cells [IDL_CAR_NUM_RESERVED_MAP_LAYER]
	The multiple layers of the cell.

详细描述

The multiple layers of the cell.

在文件 lossless_map_matrix.h 第 67 行定义.

构造及析构函数说明

LosslessMapCell()

apollo::localization::msf::LosslessMapCell::LosslessMapCell

(

)

The default constructor.

在文件 lossless_map_matrix.cc 第 105 行定义.

{ layer_num = 1; }

成员函数说明

CreateBinary()

unsigned int apollo::localization::msf::LosslessMapCell::CreateBinary	(	unsigned char *	buf,
		unsigned int	buf_size
	)		const

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 lossless_map_matrix.cc 第 176 行定义.

                                                                        {
  unsigned int target_size = GetBinarySize();
  if (buf_size >= target_size) {
    unsigned int* p = reinterpret_cast<unsigned int*>(buf);
    *p = layer_num;
    ++p;
    buf_size -= static_cast<unsigned int>(sizeof(unsigned int));
    unsigned char* pp = reinterpret_cast<unsigned char*>(p);
    for (size_t i = 0; i < layer_num; ++i) {
      const LosslessMapSingleCell& cell = map_cells[i];
      unsigned int processed_size = cell.CreateBinary(pp, buf_size);
      DCHECK_GE(buf_size, processed_size);
      buf_size -= processed_size;
      pp += processed_size;
    }
  }
  return target_size;
}

GetAlt() [1/2]

float apollo::localization::msf::LosslessMapCell::GetAlt ( ) const

inline

Get the average altitude of the map cell.

在文件 lossless_map_matrix.h 第 117 行定义.

{ return map_cells[0].altitude; }

GetAlt() [2/2]

void apollo::localization::msf::LosslessMapCell::GetAlt

(

std::vector< float > *

alts

)

const

Get the average altitude of all layers in the map cell.

在文件 lossless_map_matrix.cc 第 236 行定义.

                                                         {
  alts->clear();
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    alts->push_back(cell.altitude);
  }
}

GetAltVar() [1/2]

float apollo::localization::msf::LosslessMapCell::GetAltVar ( ) const

inline

Get the variance of the altitude of the map cell.

在文件 lossless_map_matrix.h 第 119 行定义.

{ return map_cells[0].altitude_var; }

GetAltVar() [2/2]

void apollo::localization::msf::LosslessMapCell::GetAltVar

(

std::vector< float > *

alt_vars

)

const

Get the variance of the altitude of all layers in the map cell.

在文件 lossless_map_matrix.cc 第 244 行定义.

                                                                {
  alt_vars->clear();
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    alt_vars->push_back(cell.altitude_var);
  }
}

GetBinarySize()

unsigned int apollo::localization::msf::LosslessMapCell::GetBinarySize

(

)

const

Get the binary size of the object.

在文件 lossless_map_matrix.cc 第 196 行定义.

                                                  {
  unsigned int target_size = sizeof(
      unsigned int);  // The size of the variable for the number of layers.
  for (size_t i = 0; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    target_size += cell.GetBinarySize();
  }
  return target_size;
}

GetCount() [1/2]

unsigned int apollo::localization::msf::LosslessMapCell::GetCount ( ) const

inline

Get the count of the samples in the map cell.

在文件 lossless_map_matrix.h 第 121 行定义.

{ return map_cells[0].count; }

GetCount() [2/2]

void apollo::localization::msf::LosslessMapCell::GetCount

(

std::vector< unsigned int > *

counts

)

const

Get the count of the samples of all layers in the map cell.

在文件 lossless_map_matrix.cc 第 252 行定义.

                                                                    {
  counts->clear();
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    counts->push_back(cell.count);
  }
}

GetLayer() [1/2]

LosslessMapSingleCell & apollo::localization::msf::LosslessMapCell::GetLayer ( unsigned int  layer_id )

inline

Get a particular layer in the map cell.

The layer 0 is the layer includes all the samples.

在文件 lossless_map_matrix.h 第 124 行定义.

                                                         {
    DCHECK_LT(layer_id, layer_num);
    return map_cells[layer_id];
  }

GetLayer() [2/2]

const LosslessMapSingleCell & apollo::localization::msf::LosslessMapCell::GetLayer ( unsigned int  layer_id ) const

inline

Get a perticular layer in the map cell.

The layer 0 is the layer includes all the samples.

在文件 lossless_map_matrix.h 第 130 行定义.

                                                                     {
    DCHECK_LT(layer_id, layer_num);
    return map_cells[layer_id];
  }

GetLayerId()

unsigned int apollo::localization::msf::LosslessMapCell::GetLayerId

(

double

altitude

)

const

Match a layer in the map cell given an altitude.

返回

The valid layer ID is 1 ~ N (The layer 0 is the layer includes all the samples). If there is no existing layer, return 0.

在文件 lossless_map_matrix.cc 第 206 行定义.

                                                              {
  unsigned int best_layer_id = 0;
  double best_layer_alt_dif = 1e10;
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    double layer_alt_dif = fabs(cell.altitude - altitude);
    if (layer_alt_dif < best_layer_alt_dif) {
      best_layer_alt_dif = layer_alt_dif;
      best_layer_id = i;
    }
  }
  return best_layer_id;
}

GetValue() [1/2]

unsigned char apollo::localization::msf::LosslessMapCell::GetValue ( ) const

inline

Get the average intensity of the map cell.

在文件 lossless_map_matrix.h 第 111 行定义.

                                        {
    return static_cast<unsigned char>(map_cells[0].intensity);
  }

GetValue() [2/2]

void apollo::localization::msf::LosslessMapCell::GetValue

(

std::vector< unsigned char > *

values

)

const

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

Get the average intensity of all layers in the map cell.

在文件 lossless_map_matrix.cc 第 220 行定义.

                                                                     {
  values->clear();
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    values->push_back(static_cast<unsigned char>(cell.intensity));
  }
}

GetVar() [1/2]

float apollo::localization::msf::LosslessMapCell::GetVar ( ) const

inline

Get the variance of the intensity of the map cell.

在文件 lossless_map_matrix.h 第 115 行定义.

{ return map_cells[0].intensity_var; }

GetVar() [2/2]

void apollo::localization::msf::LosslessMapCell::GetVar

(

std::vector< float > *

vars

)

const

Get the variance of the intensity of all layers in the map cell.

在文件 lossless_map_matrix.cc 第 228 行定义.

                                                         {
  vars->clear();
  for (unsigned int i = 1; i < layer_num; ++i) {
    const LosslessMapSingleCell& cell = map_cells[i];
    vars->push_back(cell.intensity_var);
  }
}

LoadBinary()

unsigned int apollo::localization::msf::LosslessMapCell::LoadBinary

(

unsigned char *

buf

)

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

在文件 lossless_map_matrix.cc 第 162 行定义.

                                                           {
  unsigned int* p = reinterpret_cast<unsigned int*>(buf);
  unsigned int size = *p;
  ++p;
  layer_num = size;
  unsigned char* pp = reinterpret_cast<unsigned char*>(p);
  for (unsigned int i = 0; i < size; ++i) {
    LosslessMapSingleCell& cell = map_cells[i];
    unsigned int processed_size = cell.LoadBinary(pp);
    pp += processed_size;
  }
  return GetBinarySize();
}

Reset()

void apollo::localization::msf::LosslessMapCell::Reset

(

)

Reset to default value.

在文件 lossless_map_matrix.cc 第 107 行定义.

                            {
  for (unsigned int i = 0; i < IDL_CAR_NUM_RESERVED_MAP_LAYER; ++i) {
    map_cells[i].Reset();
  }
  layer_num = 1;
}

SetValue()

void apollo::localization::msf::LosslessMapCell::SetValue	(	double	altitude,
		unsigned char	intensity
	)

Set the value.

参数

<altitude>	The altitude of the cell.
<intensity>	The reflectance intensity.

在文件 lossless_map_matrix.cc 第 156 行定义.

                                                                       {
  DCHECK_LE(layer_num, IDL_CAR_NUM_RESERVED_MAP_LAYER);
  LosslessMapSingleCell& cell = map_cells[0];
  cell.AddSample(static_cast<float>(altitude), static_cast<float>(intensity));
}

SetValueLayer()

void apollo::localization::msf::LosslessMapCell::SetValueLayer	(	double	altitude,
		unsigned char	intensity,
		double	altitude_thres = 10.0
	)

Set the value of a layer that layer_id > 0.

The target layer is found according to the altitude.

在文件 lossless_map_matrix.cc 第 114 行定义.

                                                           {
  DCHECK_LE(layer_num, IDL_CAR_NUM_RESERVED_MAP_LAYER);
 
  unsigned int best_layer_id = GetLayerId(altitude);
  DCHECK_LT(best_layer_id, layer_num);
  if (best_layer_id == 0) {
    if (layer_num < IDL_CAR_NUM_RESERVED_MAP_LAYER) {
      // No layer yet, create a new one
      LosslessMapSingleCell& cell = map_cells[layer_num++];
      cell.AddSample(static_cast<float>(altitude),
                     static_cast<float>(intensity));
    } else {
      // No enough reserved map layers.
      std::cerr << "[Warning] There are no enough reserved map cell layers. "
                   "Please increase IDL_CAR_NUM_RESERVED_MAP_LAYER."
                << std::endl;
    }
  } else {
    // There is a best layer
    double layer_alt_dif = fabs(map_cells[best_layer_id].altitude - altitude);
    if (layer_alt_dif < altitude_thres) {
      // Still a good one
      LosslessMapSingleCell& cell = map_cells[best_layer_id];
      cell.AddSample(static_cast<float>(altitude),
                     static_cast<float>(intensity));
    } else {
      // Should create a new one
      if (layer_num < IDL_CAR_NUM_RESERVED_MAP_LAYER) {
        LosslessMapSingleCell& cell = map_cells[layer_num++];
        cell.AddSample(static_cast<float>(altitude),
                       static_cast<float>(intensity));
      } else {
        // No enough reserved map layers.
        std::cerr << "[Warning] There are no enough reserved map cell layers. "
                     "Please increase IDL_CAR_NUM_RESERVED_MAP_LAYER."
                  << std::endl;
      }
    }
  }
}

类成员变量说明

layer_num

unsigned int apollo::localization::msf::LosslessMapCell::layer_num

The layers of the cell.

在文件 lossless_map_matrix.h 第 136 行定义.

map_cells

LosslessMapSingleCell apollo::localization::msf::LosslessMapCell::map_cells[IDL_CAR_NUM_RESERVED_MAP_LAYER]

The multiple layers of the cell.

The first layer (layer 0) includes all the intensities from any layers. Other layers only include the samples from a layer.

在文件 lossless_map_matrix.h 第 140 行定义.

---

该结构体的文档由以下文件生成:

• modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h
• modules/localization/msf/local_map/lossless_map/lossless_map_matrix.cc