#include <lossless_map_node.h>

Inheritance diagram for apollo::localization::msf::LosslessMapNode:

Collaboration diagram for apollo::localization::msf::LosslessMapNode:

Public Member Functions
	LosslessMapNode ()

	~LosslessMapNode ()

void	SetValue (const Eigen::Vector3d &coordinate, unsigned char intensity)
	Set the value of a pixel in the map node. More...

bool	SetValueIfInBound (const Eigen::Vector3d &coordinate, unsigned char intensity)
	Set the value of a pixel in the map node if the pixel in the node. More...

void	SetValueLayer (const Eigen::Vector3d &coordinate, unsigned char intensity)
	Set the value of a pixel in a layer in the map node. More...

void	GetValue (const Eigen::Vector3d &coordinate, std::vector< unsigned char > *values) const
	Given the 3D global coordinate, get the map cell average intensity of each layer. More...

void	GetVar (const Eigen::Vector3d &coordinate, std::vector< float > *vars) const
	Given the 3D global coordinate, get the map cell variance of the intensity of each layer. More...

void	GetAlt (const Eigen::Vector3d &coordinate, std::vector< float > *alts) const
	Given the 3D global coordinate, get the map cell's average altitude of each layer. More...

void	GetAltVar (const Eigen::Vector3d &coordinate, std::vector< float > *alt_vars) const
	Given the 3D global coordinate, get the map cell's variance of the altitude of each layer. More...

void	GetCount (const Eigen::Vector3d &coordinate, std::vector< unsigned int > *counts) const
	Given the 3D global coordinate, get the map cell's count of the samples of each layer. More...

unsigned char	GetValue (const Eigen::Vector3d &coordinate) const
	Given the 3D global coordinate, get the map cell average intensity. More...

float	GetVar (const Eigen::Vector3d &coordinate) const
	Given the 3D global coordinate, get the map cell variance of the intensity. More...

float	GetAlt (const Eigen::Vector3d &coordinate) const
	Given the 3D global coordinate, get the map cell's average altitude. More...

float	GetAltVar (const Eigen::Vector3d &coordinate) const
	Given the 3D global coordinate, get the map cell's variance of the altitude. More...

unsigned int	GetCount (const Eigen::Vector3d &coordinate) const
	Given the 3D global coordinate, get the map cell's count of the samples. More...

unsigned char	GetValue (unsigned int row, unsigned int col) const
	Get the map cell average intensity. More...

float	GetVar (unsigned int row, unsigned int col) const
	Get the map cell variance of the intensity. More...

float	GetAlt (unsigned int row, unsigned int col) const
	Get the map cell's average altitude. More...

float	GetAltVar (unsigned int row, unsigned int col) const
	Get the map cell's variance of the altitude. More...

unsigned int	GetCount (unsigned int row, unsigned int col) const
	Get the map cell's count of the samples. More...

const LosslessMapSingleCell &	GetFirstMapCell (unsigned int row, unsigned int col) const
	Get the constant map cell given the coordinate. More...

LosslessMapSingleCell &	GetFirstMapCell (unsigned int row, unsigned int col)

float	GetMinAltitude () const
	Get the min altitude of point cloud in the node. More...

void	SetMinAltitude (float altitude)
	Set the min altitude of point cloud in the node. More...

Public Member Functions inherited from apollo::localization::msf::BaseMapNode
	BaseMapNode (BaseMapMatrix matrix, CompressionStrategy strategy)
	Construct a map node. More...

virtual	~BaseMapNode ()
	Destruct a map node. More...

virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)
	Initialize the map node. Call this function first before use it! More...

virtual void	InitMapMatrix (const BaseMapConfig *map_config)
	Initialize the map matrix. More...

virtual void	Finalize ()
	call before deconstruction or reset. More...

virtual void	ResetMapNode ()
	Reset map cells data. More...

bool	Save ()
	Save the map node to the disk. More...

bool	SaveIntensityImage () const
	Save intensity image of node. More...

bool	Load ()
	Load the map node from the disk. More...

bool	Load (const char *filename)

const BaseMapMatrix &	GetMapCellMatrix () const
	Set compression strategy. More...

BaseMapMatrix &	GetMapCellMatrix ()

const BaseMapConfig &	GetMapConfig () const
	Get the map settings. More...

void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index. More...

const MapNodeIndex &	GetMapNodeIndex () const
	Get the map node index. More...

void	SetIsReserved (bool is_reserved)
	Set if the map node is reserved. More...

bool	GetIsReserved () const
	Get if the map node is reserved. More...

bool	GetIsChanged () const
	Get if the map data has changed. More...

void	SetIsChanged (bool is)
	Set if the map node data has changed. More...

bool	GetIsReady () const
	Get if the map node data is ready. More...

const Eigen::Vector2d &	GetLeftTopCorner () const
	Get the left top corner of the map node. More...

void	SetLeftTopCorner (double x, double y)

float	GetMapResolution () const
	Get the resolution of this map nodex. More...

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. <return> If global coordinate (x, y) belongs to this map node. More...

bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int x, unsigned int y) const

Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate, eigen version. More...

Protected Attributes
float	min_altitude_
	The min altitude of point cloud in the node. More...

Protected Attributes inherited from apollo::localization::msf::BaseMapNode
const BaseMapConfig *	map_config_ = nullptr
	The map settings. More...

MapNodeIndex	index_
	The index of this node. More...

Eigen::Vector2d	left_top_corner_
	The left top corner of the map node in the global coordinate system. More...

BaseMapMatrix *	map_matrix_
	The data structure of the map datas, which is a matrix. More...

bool	is_reserved_ = false
	If the node is reserved in map. More...

bool	is_changed_ = false
	Has the map node been changed. More...

bool	data_is_ready_ = false

unsigned int	file_body_binary_size_ = 0
	The body binary size in file. It's useful when reading and writing files. More...

CompressionStrategy *	compression_strategy_ = nullptr

float	min_altitude_ = 1e6
	The min altitude of point cloud in the node. More...

Additional Inherited Members
Static Public Member Functions inherited from apollo::localization::msf::BaseMapNode
static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Protected Member Functions inherited from apollo::localization::msf::BaseMapNode
virtual unsigned int	LoadBinary (FILE *file)
	Load the map cell from a binary chunk. More...

virtual unsigned int	CreateBinary (FILE *file) const
	Create the binary. Serialization of the object. More...

virtual unsigned int	GetBinarySize () const
	Get the binary size of the object. More...

virtual unsigned int	LoadHeaderBinary (unsigned char *buf)
	Load the map node header from a binary chunk. More...

virtual unsigned int	CreateHeaderBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary header. More...

virtual unsigned int	GetHeaderBinarySize () const
	Get the size of the header in bytes. More...

virtual unsigned int	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk. More...

virtual unsigned int	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body. More...

virtual unsigned int	GetBodyBinarySize () const
	Get the size of the body in bytes. More...

bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node. More...

Constructor & Destructor Documentation

◆ LosslessMapNode()

apollo::localization::msf::LosslessMapNode::LosslessMapNode ( )

◆ ~LosslessMapNode()

apollo::localization::msf::LosslessMapNode::~LosslessMapNode ( )

Member Function Documentation

◆ GetAlt() [1/3]

void apollo::localization::msf::LosslessMapNode::GetAlt	(	const Eigen::Vector3d &	coordinate,
		std::vector< float > *	alts
	)		const

Given the 3D global coordinate, get the map cell's average altitude of each layer.

◆ GetAlt() [2/3]

float apollo::localization::msf::LosslessMapNode::GetAlt ( const Eigen::Vector3d & coordinate ) const

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

◆ GetAlt() [3/3]

float apollo::localization::msf::LosslessMapNode::GetAlt	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the map cell's average altitude.

◆ GetAltVar() [1/3]

void apollo::localization::msf::LosslessMapNode::GetAltVar	(	const Eigen::Vector3d &	coordinate,
		std::vector< float > *	alt_vars
	)		const

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

◆ GetAltVar() [2/3]

float apollo::localization::msf::LosslessMapNode::GetAltVar ( const Eigen::Vector3d & coordinate ) const

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

◆ GetAltVar() [3/3]

float apollo::localization::msf::LosslessMapNode::GetAltVar	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the map cell's variance of the altitude.

◆ GetCount() [1/3]

void apollo::localization::msf::LosslessMapNode::GetCount	(	const Eigen::Vector3d &	coordinate,
		std::vector< unsigned int > *	counts
	)		const

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

◆ GetCount() [2/3]

unsigned int apollo::localization::msf::LosslessMapNode::GetCount ( const Eigen::Vector3d & coordinate ) const

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

◆ GetCount() [3/3]

unsigned int apollo::localization::msf::LosslessMapNode::GetCount	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the map cell's count of the samples.

◆ GetFirstMapCell() [1/2]

const LosslessMapSingleCell& apollo::localization::msf::LosslessMapNode::GetFirstMapCell	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the constant map cell given the coordinate.

◆ GetFirstMapCell() [2/2]

LosslessMapSingleCell& apollo::localization::msf::LosslessMapNode::GetFirstMapCell	(	unsigned int	row,
		unsigned int	col
	)

inline

◆ GetMinAltitude()

float apollo::localization::msf::LosslessMapNode::GetMinAltitude ( ) const

inline

Get the min altitude of point cloud in the node.

◆ GetValue() [1/3]

void apollo::localization::msf::LosslessMapNode::GetValue	(	const Eigen::Vector3d &	coordinate,
		std::vector< unsigned char > *	values
	)		const

Given the 3D global coordinate, get the map cell average intensity of each layer.

◆ GetValue() [2/3]

unsigned char apollo::localization::msf::LosslessMapNode::GetValue ( const Eigen::Vector3d & coordinate ) const

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

◆ GetValue() [3/3]

unsigned char apollo::localization::msf::LosslessMapNode::GetValue	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the map cell average intensity.

◆ GetVar() [1/3]

void apollo::localization::msf::LosslessMapNode::GetVar	(	const Eigen::Vector3d &	coordinate,
		std::vector< float > *	vars
	)		const

Given the 3D global coordinate, get the map cell variance of the intensity of each layer.

◆ GetVar() [2/3]

float apollo::localization::msf::LosslessMapNode::GetVar ( const Eigen::Vector3d & coordinate ) const

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

◆ GetVar() [3/3]

float apollo::localization::msf::LosslessMapNode::GetVar	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Get the map cell variance of the intensity.

◆ SetMinAltitude()

void apollo::localization::msf::LosslessMapNode::SetMinAltitude ( float altitude )

inline

Set the min altitude of point cloud in the node.

◆ SetValue()

void apollo::localization::msf::LosslessMapNode::SetValue	(	const Eigen::Vector3d &	coordinate,
		unsigned char	intensity
	)

Set the value of a pixel in the map node.

Parameters

<coordinate>	The 3D global coordinate.
<intensity>	The reflectance intensity.

◆ SetValueIfInBound()

bool apollo::localization::msf::LosslessMapNode::SetValueIfInBound	(	const Eigen::Vector3d &	coordinate,
		unsigned char	intensity
	)

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

Parameters

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

◆ SetValueLayer()

void apollo::localization::msf::LosslessMapNode::SetValueLayer	(	const Eigen::Vector3d &	coordinate,
		unsigned char	intensity
	)

Set the value of a pixel in a layer in the map node.

Parameters

<coordinate>	The 3D global coordinate. The z is used as the altitude for the layer match.
<intensity>	The reflectance intensity.

Member Data Documentation

◆ min_altitude_

float apollo::localization::msf::LosslessMapNode::min_altitude_

protected

The min altitude of point cloud in the node.

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

modules/localization/msf/local_map/lossless_map/lossless_map_node.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ LosslessMapNode()

◆ ~LosslessMapNode()

Member Function Documentation

◆ GetAlt() [1/3]

◆ GetAlt() [2/3]

◆ GetAlt() [3/3]

◆ GetAltVar() [1/3]

◆ GetAltVar() [2/3]

◆ GetAltVar() [3/3]

◆ GetCount() [1/3]

◆ GetCount() [2/3]

◆ GetCount() [3/3]

◆ GetFirstMapCell() [1/2]

◆ GetFirstMapCell() [2/2]

◆ GetMinAltitude()

◆ GetValue() [1/3]

◆ GetValue() [2/3]

◆ GetValue() [3/3]

◆ GetVar() [1/3]

◆ GetVar() [2/3]

◆ GetVar() [3/3]

◆ SetMinAltitude()

◆ SetValue()

◆ SetValueIfInBound()

◆ SetValueLayer()

Member Data Documentation

◆ min_altitude_