The options of the reflectance map. More...

#include <base_map_config.h>

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

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

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

virtual	~BaseMapConfig ()
	The deconstructor. 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	SetMapVersion (const std::string &map_version)
	Set map_version. More...

void	SetMapNodeSize (unsigned int size_x, unsigned int size_y)
	Set map_node_size. More...

void	SetGroundHeightOffset (float map_ground_height_offset)
	Set map_ground_height_offset. More...

void	SetIsCompression (bool map_is_compression)
	Set map_is_compression. 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...

void	SetNodeMd5Map (const std::map< std::string, std::string > &node_md5_map)
	Set node_md5_map. More...

void	AddNodeMd5 (const std::string &node_path, const std::string &md5)
	Add a node md5 pair. More...

MapVersion	GetMapVersion () const
	Get map version. 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_ = 0
	The map node size in pixels. More...

unsigned int	map_node_size_y_ = 0
	The map node size in pixels. More...

Rect2D< double >	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. More...

float	map_ground_height_offset_ = 0.0f
	Velodyne's height to the ground. Estimate the Velodyne's height based on the ground height. More...

bool	map_is_compression_ = false
	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...

std::map< std::string, std::string >	node_md5_map_
	The map structure to store map node file name and its md5. key：map node file name; value: md5 of map node file. More...

std::string	coordinate_type_ = ""

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

virtual bool	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::pyramid_map::BaseMapConfig::BaseMapConfig ( const std::string & map_version = "0.1" )

explicit

The constructor gives the default map settings.

◆ ~BaseMapConfig()

virtual apollo::localization::msf::pyramid_map::BaseMapConfig::~BaseMapConfig ( )

virtual

The deconstructor.

Member Function Documentation

◆ AddNodeMd5()

void apollo::localization::msf::pyramid_map::BaseMapConfig::AddNodeMd5	(	const std::string &	node_path,
		const std::string &	md5
	)

Add a node md5 pair.

◆ CreateXml()

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

protectedvirtual

Create the XML structure.

Reimplemented in apollo::localization::msf::pyramid_map::PyramidMapConfig, and apollo::localization::msf::pyramid_map::NdtMapConfig.

◆ GetMapVersion()

MapVersion apollo::localization::msf::pyramid_map::BaseMapConfig::GetMapVersion ( ) const

Get map version.

◆ Load()

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

Load the map option from a XML file.

◆ LoadXml()

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

protectedvirtual

Load the map options from a XML structure.

Reimplemented in apollo::localization::msf::pyramid_map::PyramidMapConfig.

◆ ResizeMapRange()

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

Resize map range by range and resolutions.

◆ Save()

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

Save the map option to a XML file.

◆ SetGroundHeightOffset()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetGroundHeightOffset ( float map_ground_height_offset )

Set map_ground_height_offset.

◆ SetIsCompression()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetIsCompression ( bool map_is_compression )

Set map_is_compression.

◆ SetMapNodeSize()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetMapNodeSize	(	unsigned int	size_x,
		unsigned int	size_y
	)

Set map_node_size.

◆ SetMapVersion()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetMapVersion ( const std::string & map_version )

Set map_version.

◆ SetMultiResolutions()

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

Set multi resolutions.

◆ SetNodeMd5Map()

void apollo::localization::msf::pyramid_map::BaseMapConfig::SetNodeMd5Map ( const std::map< std::string, std::string > & node_md5_map )

Set node_md5_map.

◆ SetSingleResolutions()

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

Set single resolutions.

Member Data Documentation

◆ coordinate_type_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::coordinate_type_ = ""

◆ map_datasets_

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

The datasets that contributed to the map.

◆ map_folder_path_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::map_folder_path_ = ""

The map folder path.

◆ map_ground_height_offset_

float apollo::localization::msf::pyramid_map::BaseMapConfig::map_ground_height_offset_ = 0.0f

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

◆ map_is_compression_

bool apollo::localization::msf::pyramid_map::BaseMapConfig::map_is_compression_ = false

Enable the compression.

◆ map_node_size_x_

unsigned int apollo::localization::msf::pyramid_map::BaseMapConfig::map_node_size_x_ = 0

The map node size in pixels.

◆ map_node_size_y_

unsigned int apollo::localization::msf::pyramid_map::BaseMapConfig::map_node_size_y_ = 0

The map node size in pixels.

◆ map_range_

Rect2D<double> apollo::localization::msf::pyramid_map::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::pyramid_map::BaseMapConfig::map_resolutions_

The pixel resolutions in the map in meters.

◆ map_version_

std::string apollo::localization::msf::pyramid_map::BaseMapConfig::map_version_ = ""

The version of map.

◆ node_md5_map_

std::map<std::string, std::string> apollo::localization::msf::pyramid_map::BaseMapConfig::node_md5_map_

The map structure to store map node file name and its md5. key：map node file name; value: md5 of map node file.

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

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

Public Member Functions

Public Attributes

Protected Member Functions