#include <pyramid_map_config.h>

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

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

Public Member Functions
	PyramidMapConfig (const std::string &map_version)

	~PyramidMapConfig ()

Public Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMapConfig
	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
bool	has_intensity_ = true

bool	has_intensity_var_ = true

bool	has_altitude_ = true

bool	has_altitude_var_ = true

bool	has_ground_altitude_ = true

bool	has_count_ = true

bool	has_ground_count_ = true

unsigned int	resolution_num_ = 1

unsigned int	resolution_ratio_ = 2

std::string	coordinate_type_ = ""
	coordinate type. More...

float	max_intensity_value_ = 0.0
	During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image. More...

float	max_intensity_var_value_ = 0.0
	During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image. More...

Public Attributes inherited from apollo::localization::msf::pyramid_map::BaseMapConfig
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...

Constructor & Destructor Documentation

◆ PyramidMapConfig()

apollo::localization::msf::pyramid_map::PyramidMapConfig::PyramidMapConfig ( const std::string & map_version )

explicit

◆ ~PyramidMapConfig()

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

Member Function Documentation

◆ CreateXml()

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

protectedvirtual

Create the XML structure.

Reimplemented from apollo::localization::msf::pyramid_map::BaseMapConfig.

◆ LoadXml()

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

protectedvirtual

Load the map options from a XML structure.

Reimplemented from apollo::localization::msf::pyramid_map::BaseMapConfig.

Member Data Documentation

◆ coordinate_type_

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

coordinate type.

◆ has_altitude_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_altitude_ = true

◆ has_altitude_var_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_altitude_var_ = true

◆ has_count_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_count_ = true

◆ has_ground_altitude_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_ground_altitude_ = true

◆ has_ground_count_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_ground_count_ = true

◆ has_intensity_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_intensity_ = true

◆ has_intensity_var_

bool apollo::localization::msf::pyramid_map::PyramidMapConfig::has_intensity_var_ = true

◆ max_intensity_value_

float apollo::localization::msf::pyramid_map::PyramidMapConfig::max_intensity_value_ = 0.0

During the visualization (for example, Call the function get_image() of map node layer), the maximum intensity value in the image.

◆ max_intensity_var_value_

float apollo::localization::msf::pyramid_map::PyramidMapConfig::max_intensity_var_value_ = 0.0