apollo::localization::msf::NdtMapSingleCell Class Reference

The data structure of a single ndt map cell. More...

#include <ndt_map_matrix.h>

Collaboration diagram for apollo::localization::msf::NdtMapSingleCell:

Public Member Functions
	NdtMapSingleCell ()
	The default constructor. More...
void	Reset ()
	Reset to default value. More...
unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk. More...
unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary. Serialization of the object. More...
unsigned int	GetBinarySize () const
	Get the binary size of the object. More...
NdtMapSingleCell &	operator= (const NdtMapSingleCell &ref)
	Overloading the assign operator. More...
void	AddSample (const float intensity, const float altitude, const Eigen::Vector3f centroid, bool is_road=false)
	Add an sample to the single 3d map cell. More...
void	MergeCell (const float intensity, const float intensity_var, const unsigned int road_pt_count, const unsigned int count, const Eigen::Vector3f &centroid, const Eigen::Matrix3f &centroid_cov)
	Merge two cells. More...
void	MergeCell (const NdtMapSingleCell &cell_new)
void	CentroidEigenSolver (const Eigen::Matrix3f &centroid_cov)

Static Public Member Functions
static void	Reduce (NdtMapSingleCell *cell, const NdtMapSingleCell &cell_new)
	Combine two NdtMapSingleCell instances (Reduce). More...

Public Attributes
float	intensity_ = 0
	The average intensity value. More...
float	intensity_var_ = 0
	The variance intensity value. More...
unsigned int	road_pt_count_ = 0
	The number of samples belonging to road surface. More...
unsigned int	count_ = 0
	The number of samples in the cell. More...
Eigen::Vector3f	centroid_
	the centroid of the cell. More...
Eigen::Matrix3f	centroid_average_cov_
	the pose covariance of the cell. More...
Eigen::Matrix3f	centroid_icov_
	the pose inverse covariance of the cell. More...
unsigned char	is_icov_available_ = 0
	the inverse covariance available flag. More...
const unsigned int	minimum_points_threshold_ = 6
	minimum number of points needed. More...

Detailed Description

The data structure of a single ndt map cell.

Constructor & Destructor Documentation

NdtMapSingleCell()

apollo::localization::msf::NdtMapSingleCell::NdtMapSingleCell

(

)

The default constructor.

Member Function Documentation

AddSample()

void apollo::localization::msf::NdtMapSingleCell::AddSample ( const float  intensity, const float  altitude, const Eigen::Vector3f  centroid, bool  is_road = false  )

inline

Add an sample to the single 3d map cell.

CentroidEigenSolver()

void apollo::localization::msf::NdtMapSingleCell::CentroidEigenSolver ( const Eigen::Matrix3f &  centroid_cov )

inline

CreateBinary()

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

Create the binary. Serialization of the object.

Parameters

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

GetBinarySize()

unsigned int apollo::localization::msf::NdtMapSingleCell::GetBinarySize

(

)

const

Get the binary size of the object.

LoadBinary()

unsigned int apollo::localization::msf::NdtMapSingleCell::LoadBinary

(

unsigned char *

buf

)

Load the map cell from a binary chunk.

Parameters

<return>

The size read (the real size of object).

MergeCell() [1/2]

void apollo::localization::msf::NdtMapSingleCell::MergeCell ( const float  intensity, const float  intensity_var, const unsigned int  road_pt_count, const unsigned int  count, const Eigen::Vector3f &  centroid, const Eigen::Matrix3f &  centroid_cov  )

inline

Merge two cells.

MergeCell() [2/2]

void apollo::localization::msf::NdtMapSingleCell::MergeCell ( const NdtMapSingleCell &  cell_new )

inline

operator=()

NdtMapSingleCell& apollo::localization::msf::NdtMapSingleCell::operator=

(

const NdtMapSingleCell &

ref

)

Overloading the assign operator.

Reduce()

static void apollo::localization::msf::NdtMapSingleCell::Reduce ( NdtMapSingleCell *  cell, const NdtMapSingleCell &  cell_new  )

static

Combine two NdtMapSingleCell instances (Reduce).

Reset()

void apollo::localization::msf::NdtMapSingleCell::Reset ( )

inline

Reset to default value.

Member Data Documentation

centroid_

Eigen::Vector3f apollo::localization::msf::NdtMapSingleCell::centroid_

the centroid of the cell.

centroid_average_cov_

Eigen::Matrix3f apollo::localization::msf::NdtMapSingleCell::centroid_average_cov_

the pose covariance of the cell.

centroid_icov_

Eigen::Matrix3f apollo::localization::msf::NdtMapSingleCell::centroid_icov_

the pose inverse covariance of the cell.

count_

unsigned int apollo::localization::msf::NdtMapSingleCell::count_ = 0

The number of samples in the cell.

intensity_

float apollo::localization::msf::NdtMapSingleCell::intensity_ = 0

The average intensity value.

intensity_var_

float apollo::localization::msf::NdtMapSingleCell::intensity_var_ = 0

The variance intensity value.

is_icov_available_

unsigned char apollo::localization::msf::NdtMapSingleCell::is_icov_available_ = 0

the inverse covariance available flag.

minimum_points_threshold_

const unsigned int apollo::localization::msf::NdtMapSingleCell::minimum_points_threshold_ = 6

minimum number of points needed.

road_pt_count_

unsigned int apollo::localization::msf::NdtMapSingleCell::road_pt_count_ = 0

The number of samples belonging to road surface.

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

• modules/localization/msf/local_map/ndt_map/ndt_map_matrix.h