#include <pyramid_map.h>

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

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

Public Member Functions
	PyramidMap (PyramidMapConfig *config)

	~PyramidMap ()

float	GetIntensitySafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return intensity, if necessary. More...

float	GetIntensityVarSafe (const Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return intensity var, if necessary. More...

float	GetAltitudeSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude, if necessary. More...

float	GetAltitudeVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude var, if necessary. More...

float	GetGroundAltitudeSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return ground altitude, if necessary. More...

unsigned int	GetCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Get the number of samples in the map cell thread safely. More...

unsigned int	GetGroundCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Get the number of ground samples in the map cell thread safely. More...

Public Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMap
	BaseMap (BaseMapConfig *config)
	The constructor. More...

virtual	~BaseMap ()
	The destructor. More...

virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)

void	AttachMapNodePool (BaseMapNodePool *p_map_node_pool)
	Attach map node pointer. More...

BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, return false. More...

BaseMapNode *	GetMapNodeSafe (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, safely load it. More...

bool	IsMapNodeExist (const MapNodeIndex &index)
	Check if the map node in the cache. More...

bool	SetMapFolderPath (const std::string folder_path)
	Set the directory of the map. More...

void	AddDataset (const std::string dataset_path)
	Add a dataset path to the map config. More...

void	Release ()
	Release resources. More...

virtual void	PreloadMapArea (const Eigen::Vector3d &location, const Eigen::Vector3d &trans_diff, unsigned int resolution_id, unsigned int zone_id)
	Preload map nodes for the next frame location calculation. It will forecasts the nodes by the direction of the car moving. Because the progress of loading will cost a long time (over 100ms), it must do this for a period of time in advance. After the index of nodes calculate finished, it will create loading tasks, but will not wait for the loading finished, eigen version. More...

virtual bool	LoadMapArea (const Eigen::Vector3d &seed_pt3d, unsigned int resolution_id, unsigned int zone_id, int filter_size_x, int filter_size_y)
	Load map nodes for the location calculate of this frame. If the forecasts are correct in last frame, these nodes will be all in cache, if not, then need to create loading tasks, and wait for the loading finish, in order to the nodes which the following calculate needed are all in the memory, eigen version. More...

void	ComputeMd5ForAllMapNodes ()
	Compute md5 for all map node file in map. More...

bool	CheckMap ()
	Check if map is normal. More...

bool	CheckMapStrictly ()
	Check if map is normal(with map node checking). More...

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

BaseMapConfig &	GetMapConfig ()
	Get the map config. More...

const std::vector< std::string > &	GetAllMapNodePaths () const
	Get all map node paths. More...

const std::vector< std::string > &	GetAllMapNodeMd5s () const
	Get all map node md5s. More...

Additional Inherited Members
Protected Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMap
void	GetAllMapIndexAndPath ()

MapNodeIndex	GetMapIndexFromMapPath (const std::string &map_path)

void	LoadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index. More...

void	PreloadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index. More...

void	LoadMapNodeThreadSafety (const MapNodeIndex &index, bool is_reserved=false)
	Load map node by index, thread_safety. More...

void	CheckAndUpdateCache (std::set< MapNodeIndex > *map_ids)
	Check map node in L2 Cache. More...

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

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_

std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl1_ = nullptr
	The cache for map node preload. More...

std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl2_ = nullptr

BaseMapNodePool *	map_node_pool_ = nullptr
	The map node memory pool pointer. More...

std::set< MapNodeIndex >	map_preloading_task_index_

boost::recursive_mutex	map_load_mutex_
	The mutex for preload map node. More...

std::vector< MapNodeIndex >	all_map_node_indices_
	All the map nodes in the Map (in the disk). More...

std::vector< std::string >	all_map_node_paths_

std::vector< std::string >	all_map_node_md5s_
	All the map nodes' md5 in the Map (in the disk). More...

Constructor & Destructor Documentation

◆ PyramidMap()

apollo::localization::msf::pyramid_map::PyramidMap::PyramidMap ( PyramidMapConfig * config )

explicit

◆ ~PyramidMap()

apollo::localization::msf::pyramid_map::PyramidMap::~PyramidMap ( )

Member Function Documentation

◆ GetAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude, if necessary.

◆ GetAltitudeVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetAltitudeVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude var, if necessary.

◆ GetCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMap::GetCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Get the number of samples in the map cell thread safely.

◆ GetGroundAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetGroundAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return ground altitude, if necessary.

◆ GetGroundCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMap::GetGroundCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Get the number of ground samples in the map cell thread safely.

◆ GetIntensitySafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetIntensitySafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return intensity, if necessary.

◆ GetIntensityVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetIntensityVarSafe	(	const Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = `0`
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return intensity var, if necessary.

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

modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map.h

Public Member Functions

Additional Inherited Members