The options of the reflectance map. More...

#include <base_map_config.h>

Inheritance diagram for apollo::localization::msf::BaseMapConfig:

Collaboration diagram for apollo::localization::msf::BaseMapConfig:

Public Member Functions
	BaseMapConfig (std::string map_version="0.1")
	The constructor gives the default map settings. More...

bool	Save (const std::string file_path)
	Save the map option to a XML file. More...

bool	Load (const std::string file_path)
	Load the map option from a XML file. More...

void	ResizeMapRange ()
	Resize map range by range and resolutions. More...

void	SetSingleResolutions (float resolution=0.125)
	Set single resolutions. More...

void	SetMultiResolutions ()
	Set multi resolutions. More...

Public Attributes
std::string	map_version_
	The version of map. More...

std::vector< float >	map_resolutions_
	The pixel resolutions in the map in meters. More...

unsigned int	map_node_size_x_
	The map node size in pixels. More...

unsigned int	map_node_size_y_
	The map node size in pixels. More...

Rect2D< double >	map_range_
	The minimum and maximum UTM range in the map. More...

float	map_ground_height_offset_
	Velodyne's height to the ground. Estimate the Velodyne's height based on the ground height. More...

bool	map_is_compression_
	Enable the compression. More...

std::string	map_folder_path_
	The map folder path. More...

std::vector< std::string >	map_datasets_
	The datasets that contributed to the map. More...

Protected Member Functions
virtual void	CreateXml (boost::property_tree::ptree *config) const
	Create the XML structure. More...

virtual void	LoadXml (const boost::property_tree::ptree &config)
	Load the map options from a XML structure. More...

Detailed Description

The options of the reflectance map.

Constructor & Destructor Documentation

◆ BaseMapConfig()

apollo::localization::msf::BaseMapConfig::BaseMapConfig ( std::string map_version = "0.1" )

explicit

The constructor gives the default map settings.

Member Function Documentation

◆ CreateXml()

virtual void apollo::localization::msf::BaseMapConfig::CreateXml ( boost::property_tree::ptree * config ) const

protectedvirtual

Create the XML structure.

Reimplemented in apollo::localization::msf::LosslessMapConfig, apollo::localization::msf::LossyMapConfig2D, and apollo::localization::msf::NdtMapConfig.

◆ Load()

bool apollo::localization::msf::BaseMapConfig::Load ( const std::string file_path )

Load the map option from a XML file.

◆ LoadXml()

virtual void apollo::localization::msf::BaseMapConfig::LoadXml ( const boost::property_tree::ptree & config )

protectedvirtual

Load the map options from a XML structure.

Reimplemented in apollo::localization::msf::LosslessMapConfig, and apollo::localization::msf::LossyMapConfig2D.

◆ ResizeMapRange()

void apollo::localization::msf::BaseMapConfig::ResizeMapRange ( )

Resize map range by range and resolutions.

◆ Save()

bool apollo::localization::msf::BaseMapConfig::Save ( const std::string file_path )

Save the map option to a XML file.

◆ SetMultiResolutions()

void apollo::localization::msf::BaseMapConfig::SetMultiResolutions ( )

Set multi resolutions.

◆ SetSingleResolutions()

void apollo::localization::msf::BaseMapConfig::SetSingleResolutions ( float resolution = 0.125 )

Set single resolutions.

Member Data Documentation

◆ map_datasets_

std::vector<std::string> apollo::localization::msf::BaseMapConfig::map_datasets_

The datasets that contributed to the map.

◆ map_folder_path_

std::string apollo::localization::msf::BaseMapConfig::map_folder_path_

The map folder path.

◆ map_ground_height_offset_

float apollo::localization::msf::BaseMapConfig::map_ground_height_offset_

Velodyne's height to the ground. Estimate the Velodyne's height based on the ground height.

◆ map_is_compression_

bool apollo::localization::msf::BaseMapConfig::map_is_compression_

Enable the compression.

◆ map_node_size_x_

unsigned int apollo::localization::msf::BaseMapConfig::map_node_size_x_

The map node size in pixels.

◆ map_node_size_y_

unsigned int apollo::localization::msf::BaseMapConfig::map_node_size_y_

The map node size in pixels.

◆ map_range_

Rect2D<double> apollo::localization::msf::BaseMapConfig::map_range_

The minimum and maximum UTM range in the map.

The x direction is the easting in UTM coordinate. The y direction is the northing in UTM coordinate.

◆ map_resolutions_

std::vector<float> apollo::localization::msf::BaseMapConfig::map_resolutions_

The pixel resolutions in the map in meters.

◆ map_version_

std::string apollo::localization::msf::BaseMapConfig::map_version_

The version of map.

The documentation for this class was generated from the following file:

modules/localization/msf/local_map/base_map/base_map_config.h

Public Member Functions

Public Attributes

Protected Member Functions