#include <ndt_map_node.h>
Inheritance diagram for apollo::localization::msf::pyramid_map::NdtMapNode:
Collaboration diagram for apollo::localization::msf::pyramid_map::NdtMapNode:
Public Member Functions | |
| NdtMapNode () | |
| ~NdtMapNode () | |
| void | Init (const BaseMapConfig *map_config) |
| Initialize the map node. Call this function first before use it! More... | |
| void | Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true) |
| float | GetMapResolutionZ () const |
| Get the resolution of this map nodex. More... | |
| Eigen::Vector3d | GetCoordinate3D (unsigned int x, unsigned int y, int altitude_index) const |
| Given the local x, y, altitude index, return the global coordinate. More... | |
| Eigen::Vector3d | GetCoordinateCenter3D (unsigned int x, unsigned int y, int altitude_index) const |
| Given the local x, y, altitude index, return the global coordinate. More... | |
 Public Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMapNode | |
| BaseMapNode () | |
| Construct a map node. More... | |
| BaseMapNode (BaseMapMatrix *matrix, CompressionStrategy *strategy) | |
| Construct a map node. More... | |
| virtual | ~BaseMapNode () |
| Destruct a map node. 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 | SaveAltitudeImage () const |
| Save altitude image of node. More... | |
| bool | Load () |
| Load the map node from the disk. More... | |
| bool | Load (const char *filename) |
| virtual 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... | |
| virtual bool | GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int *x, unsigned int *y) const |
| virtual Eigen::Vector2d | GetCoordinate (unsigned int x, unsigned int y) const |
| Given the local 2D coordinate, return the global coordinate. More... | |
| void | SetMapNodeIndex (const MapNodeIndex &index) |
| Set the map node index. More... | |
| bool | SaveIntensityImage (const std::string &path) const |
| Save intensity image of node. More... | |
| bool | SaveAltitudeImage (const std::string &path) const |
| Save altitude image of node. More... | |
| const BaseMapMatrix & | GetMapCellMatrix () const |
| Get map cell matrix. More... | |
| BaseMapMatrix & | GetMapCellMatrix () |
| const BaseMapConfig & | GetMapConfig () const |
| Get the map settings. More... | |
| const BaseMapNodeConfig & | GetMapNodeConfig () const |
| Get the map node config. 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 |
| void | SetLeftTopCorner (double x, double y) |
| Set the left top corner of the map node. More... | |
| float | GetMapResolution () const |
| Get the resolution of this map nodex. More... | |
Static Public Member Functions | |
| static void | Reduce (NdtMapNode *map_node, const NdtMapNode &map_node_new) |
| Combine two map nodes (Reduce operation in mapreduce). The result is saved in map_node. More... | |
| Static Public Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMapNode | |
| static Eigen::Vector2d | ComputeLeftTopCorner (const BaseMapConfig &config, const MapNodeIndex &index) |
| static Eigen::Vector2d | GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index) |
Public Attributes | |
| unsigned int | num_valid_cells_ |
| The number of cells with elements. More... | |
| unsigned int | num_valid_single_cells_ |
| The number of single cells with elements. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMapNode | |
| bool | CreateMapDirectory (const std::string &path) const |
| Try to create the map directory. More... | |
| bool | CreateMapDirectoryRecursively (const std::vector< std::string > &paths) const |
| Try to create the map directory recursively. More... | |
| bool | CheckMapDirectoryRecursively (const std::vector< std::string > &paths) const |
| Try to check the map directory recursively. More... | |
| virtual bool | LoadBinary (FILE *file) |
| Load the map cell from a binary chunk. More... | |
| virtual bool | CreateBinary (FILE *file) const |
| Create the binary. Serialization of the object. More... | |
| virtual size_t | GetBinarySize () const |
| Get the binary size of the object. More... | |
| virtual size_t | LoadHeaderBinary (const unsigned char *buf) |
| Load the map node header from a binary chunk. More... | |
| virtual size_t | CreateHeaderBinary (unsigned char *buf, size_t buf_size) const |
| Create the binary header. More... | |
| virtual size_t | GetHeaderBinarySize () const |
| Get the size of the header in bytes. More... | |
| virtual size_t | LoadBodyBinary (std::vector< unsigned char > *buf) |
| Load the map node body from a binary chunk. More... | |
| virtual size_t | CreateBodyBinary (std::vector< unsigned char > *buf) const |
| Create the binary body. More... | |
| virtual size_t | GetBodyBinarySize () const |
| Get the size of the body in bytes. More... | |
| Protected Attributes inherited from apollo::localization::msf::pyramid_map::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... | |
| std::shared_ptr< BaseMapNodeConfig > | map_node_config_ = nullptr |
| The map node config. More... | |
| std::shared_ptr< BaseMapMatrix > | map_matrix_ = nullptr |
| The data structure of the map datas, which is a matrix. More... | |
| std::shared_ptr< BaseMapMatrixHandler > | map_matrix_handler_ = nullptr |
| The class to load and create map matrix binary. 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 |
| size_t | file_body_binary_size_ = 0 |
| The body binary size in file. More... | |
| size_t | uncompressed_file_body_size_ = 0 |
| std::shared_ptr< CompressionStrategy > | compression_strategy_ = nullptr |
Constructor & Destructor Documentation
◆ NdtMapNode()
| apollo::localization::msf::pyramid_map::NdtMapNode::NdtMapNode | ( | ) |
◆ ~NdtMapNode()
| apollo::localization::msf::pyramid_map::NdtMapNode::~NdtMapNode | ( | ) |
Member Function Documentation
◆ GetCoordinate3D()
| Eigen::Vector3d apollo::localization::msf::pyramid_map::NdtMapNode::GetCoordinate3D | ( | unsigned int | x, |
| unsigned int | y, | ||
| int | altitude_index | ||
| ) | const |
Given the local x, y, altitude index, return the global coordinate.
◆ GetCoordinateCenter3D()
| Eigen::Vector3d apollo::localization::msf::pyramid_map::NdtMapNode::GetCoordinateCenter3D | ( | unsigned int | x, |
| unsigned int | y, | ||
| int | altitude_index | ||
| ) | const |
Given the local x, y, altitude index, return the global coordinate.
◆ GetMapResolutionZ()
|
inline |
Get the resolution of this map nodex.
◆ Init() [1/2]
|
virtual |
Initialize the map node. Call this function first before use it!
Implements apollo::localization::msf::pyramid_map::BaseMapNode.
◆ Init() [2/2]
|
virtual |
◆ Reduce()
|
static |
Combine two map nodes (Reduce operation in mapreduce). The result is saved in map_node.
Member Data Documentation
◆ num_valid_cells_
| unsigned int apollo::localization::msf::pyramid_map::NdtMapNode::num_valid_cells_ |
The number of cells with elements.
◆ num_valid_single_cells_
| unsigned int apollo::localization::msf::pyramid_map::NdtMapNode::num_valid_single_cells_ |
The number of single cells with elements.
The documentation for this class was generated from the following file:
- modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_node.h
