apollo::localization::msf::pyramid_map::PyramidMapMatrix Class Reference

#include <pyramid_map_matrix.h>

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

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

Public Member Functions
	PyramidMapMatrix ()
	~PyramidMapMatrix ()
	PyramidMapMatrix (const PyramidMapMatrix &map_matrix)
virtual void	Init (const BaseMapConfig &config)
	Initialize the map matrix. More...
virtual void	Reset ()
	Reset map cells data. More...
void	Init (unsigned int rows, unsigned int cols, 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 ratio=2)
void	Reset (unsigned int level)
	Reset all of map cells data in a specific resolution level. More...
void	ResetCells (unsigned int start_id, unsigned int end_id, unsigned int level=0)
	Reset map cells data from start_id to end_id in a specific resolution level. More...
void	ResetCell (unsigned int id, unsigned int level=0)
	Reset a map cell in a specific resolution level. More...
void	Clear ()
	Release all memory in PyramidMapMatrix. More...
virtual bool	GetIntensityImg (cv::Mat *intensity_img) const
	get intensity image of node. More...
bool	GetIntensityImg (unsigned int level, cv::Mat *intensity_img) const
virtual bool	GetAltitudeImg (cv::Mat *altitude_img) const
	get altitude image of node. More...
bool	GetAltitudeImg (unsigned int level, cv::Mat *altitude_img) const
void	BottomUpSafe ()
	Propagate the data from fine level to the coarse resolution by check. More...
void	BottomUpBase ()
	Propagate the data from fine level to the coarse resolution by check. only update count, intensity, intensity var and altitude. More...
PyramidMapMatrix &	operator= (const PyramidMapMatrix &map_matrix)
const float *	GetIntensitySafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an intensity value by check. More...
const float *	GetIntensityVarSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an intensity variance value by check. More...
const float *	GetAltitudeSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude value by check. More...
const float *	GetAltitudeVarSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude variance value by check. More...
const float *	GetGroundAltitudeSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude ground value by check. More...
const unsigned int *	GetCountSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get a count value by check. More...
const unsigned int *	GetGroundCountSafe (unsigned int row, unsigned int col, unsigned int level=0) const
	Get a ground count value by check. More...
void	GetMapCellSafe (float **intensity, float **intensity_var, float **altitude, float **altitude_var, float **ground_altitude, unsigned int **count, unsigned int **ground_count, unsigned int row, unsigned int col, unsigned int level=0)
	Get cell values by check. More...
FloatMatrix *	GetIntensityMatrixSafe (unsigned int level=0)
FloatMatrix *	GetIntensityVarMatrixSafe (unsigned int level=0)
FloatMatrix *	GetAltitudeMatrixSafe (unsigned int level=0)
FloatMatrix *	GetAltitudeVarMatrixSafe (unsigned int level=0)
FloatMatrix *	GetGroundAltitudeMatrixSafe (unsigned int level=0)
UIntMatrix *	GetCountMatrixSafe (unsigned int level=0)
UIntMatrix *	GetGroundCountMatrixSafe (unsigned int level=0)
const FloatMatrix *	GetIntensityMatrixSafe (unsigned int level=0) const
const FloatMatrix *	GetIntensityVarMatrixSafe (unsigned int level=0) const
const FloatMatrix *	GetAltitudeMatrixSafe (unsigned int level=0) const
const FloatMatrix *	GetAltitudeVarMatrixSafe (unsigned int level=0) const
const FloatMatrix *	GetGroundAltitudeMatrixSafe (unsigned int level=0) const
const UIntMatrix *	GetCountMatrixSafe (unsigned int level=0) const
const UIntMatrix *	GetGroundCountMatrixSafe (unsigned int level=0) const
void	SetIntensityMatrix (const float *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetIntensityVarMatrix (const float *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetAltitudeMatrix (const float *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetAltitudeVarMatrix (const float *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetGroundAltitudeMatrix (const float *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetCountMatrix (const unsigned int *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetGroundCountMatrix (const unsigned int *input, unsigned int size, unsigned int start_index, unsigned int level=0)
void	SetFloatMatrixRoi (const FloatMatrix *source_matrix, const Rect2D< unsigned int > &source_roi, const Rect2D< unsigned int > &target_roi, unsigned int type, unsigned int level=0)
	set float matrix with a ROI. type: intensity 0; intensity_var 1; altitude 2; altitude_var 3; ground_altitude 4; More...
void	SetUintMatrixRoi (const UIntMatrix *source_matrix, const Rect2D< unsigned int > &source_roi, const Rect2D< unsigned int > &target_roi, unsigned int type, unsigned int level=0)
	set unsigned int matrix with a ROI. type: count 0; ground cout 1; More...
void	SetIntensitySafe (float intensity, unsigned int row, unsigned int col, unsigned int level=0)
	Set an intensity value by check. More...
void	SetIntensityVarSafe (float intensity_var, unsigned int row, unsigned int col, unsigned int level=0)
	Set an intensity variance value by check. More...
void	SetAltitudeSafe (float altitude, unsigned int row, unsigned int col, unsigned int level=0)
	Set an altitude value by check. More...
void	SetAltitudeVarSafe (float altitude_var, unsigned int row, unsigned int col, unsigned int level=0)
	Set an altitude variance value by check. More...
void	SetGroundAltitudeSafe (float ground_altitude, unsigned int row, unsigned int col, unsigned int level=0)
	Set an altitude ground value by check. More...
void	SetCountSafe (unsigned int count, unsigned int row, unsigned int col, unsigned int level=0)
	Set a count value by check. More...
void	SetGroundCountSafe (unsigned int ground_count, unsigned int row, unsigned int col, unsigned int level=0)
	Set a ground count value by check. More...
void	SetValueSafe (unsigned char intensity, float altitude, unsigned int row, unsigned int col, unsigned int level=0)
	Set the several values by check. More...
void	MergeCellSafe (const float *intensity, const float *intensity_var, const float *altitude, const float *altitude_var, const float *ground_altitude, const unsigned int *count, const unsigned int *ground_count, unsigned int row, unsigned int col, unsigned int level)
	Merge the data from another map cell by check. More...
void	AddSampleSafe (float intensity, float altitude, unsigned int row, unsigned int col, unsigned int level)
	Add sample to the map cell with check. More...
void	AddGroundSample (float ground_altitude, unsigned int row, unsigned int col, unsigned int level=0)
	Add ground sample to the map cell. More...
double	ComputeMeanIntensity (unsigned int level=0)
	Compute mean intensity. More...
bool	HasIntensity () const
bool	HasIntensityVar () const
bool	HasAltitude () const
bool	HasAltitudeVar () const
bool	HasGroundAltitude () const
bool	HasCount () const
bool	HasGroundCount () const
unsigned int	GetRowsSafe (unsigned int level=0) const
	Get row number given the resolution by check. More...
unsigned int	GetColsSafe (unsigned int level=0) const
	Get column number given the resolution by check. More...
unsigned int	GetRows (unsigned int level=0) const
	Get row number given the resolution. More...
unsigned int	GetCols (unsigned int level=0) const
	Get column number given the resolution. More...
unsigned int	GetResolutionNum () const
	Get number of resolution. More...
unsigned int	GetResolutionRatio () const
	Get the resolution ratio. More...
void	AddSampleBase (float intensity, float altitude, unsigned int row, unsigned int col, unsigned int level)
	Add sample to the map cell. only update count, intensity, intensity var and altitude. More...
void	MergeCellBase (const float *intensity, const float *intensity_var, const float *altitude, const unsigned int *count, unsigned int row, unsigned int col, unsigned int level)
	Merge the data from another map cell. only merge count, intensity, intensity var and altitude. More...
void	GetMapCellBase (float **intensity, float **intensity_var, float **altitude, unsigned int **count, unsigned int row, unsigned int col, unsigned int level=0)
	Get cell values. just get count, intensity, intensity var and altitude. More...
const float *	GetIntensity (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an intensity value without check. More...
const float *	GetIntensityVar (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an intensity variance value by check. More...
const float *	GetAltitude (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude value without check. More...
const float *	GetAltitudeVar (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude variance value without check. More...
const float *	GetGroundAltitude (unsigned int row, unsigned int col, unsigned int level=0) const
	Get an altitude ground value without check. More...
const unsigned int *	GetCount (unsigned int row, unsigned int col, unsigned int level=0) const
	Get a count value without check. More...
const unsigned int *	GetGroundCount (unsigned int row, unsigned int col, unsigned int level=0) const
	Get a ground count value without check. More...
FloatMatrix *	GetIntensityMatrix (unsigned int level=0)
FloatMatrix *	GetIntensityVarMatrix (unsigned int level=0)
FloatMatrix *	GetAltitudeMatrix (unsigned int level=0)
FloatMatrix *	GetAltitudeVarMatrix (unsigned int level=0)
FloatMatrix *	GetGroundAltitudeMatrix (unsigned int level=0)
UIntMatrix *	GetCountMatrix (unsigned int level=0)
UIntMatrix *	GetGroundCountMatrix (unsigned int level=0)
const FloatMatrix *	GetIntensityMatrix (unsigned int level=0) const
const FloatMatrix *	GetIntensityVarMatrix (unsigned int level=0) const
const FloatMatrix *	GetAltitudeMatrix (unsigned int level=0) const
const FloatMatrix *	GetAltitudeVarMatrix (unsigned int level=0) const
const FloatMatrix *	GetGroundAltitudeMatrix (unsigned int level=0) const
const UIntMatrix *	GetCountMatrix (unsigned int level=0) const
const UIntMatrix *	GetGroundCountMatrix (unsigned int level=0) const
Public Member Functions inherited from apollo::localization::msf::pyramid_map::BaseMapMatrix
	BaseMapMatrix ()
	The default constructor. More...
virtual	~BaseMapMatrix ()
	The deconstructor. More...
	BaseMapMatrix (const BaseMapMatrix &map_matrix)
	The copy constructor. More...

Static Public Member Functions
static void	Reduce (std::shared_ptr< PyramidMapMatrix > cells, const PyramidMapMatrix &new_cells, unsigned int level=0, unsigned int new_level=0)
	Combine two PyramidMapMatrix instances (Reduce). More...

Constructor & Destructor Documentation

PyramidMapMatrix() [1/2]

apollo::localization::msf::pyramid_map::PyramidMapMatrix::PyramidMapMatrix

(

)

~PyramidMapMatrix()

apollo::localization::msf::pyramid_map::PyramidMapMatrix::~PyramidMapMatrix

(

)

PyramidMapMatrix() [2/2]

apollo::localization::msf::pyramid_map::PyramidMapMatrix::PyramidMapMatrix ( const PyramidMapMatrix &  map_matrix )

explicit

Member Function Documentation

AddGroundSample()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::AddGroundSample	(	float	ground_altitude,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Add ground sample to the map cell.

AddSampleBase()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::AddSampleBase ( float  intensity, float  altitude, unsigned int  row, unsigned int  col, unsigned int  level  )

inline

Add sample to the map cell. only update count, intensity, intensity var and altitude.

AddSampleSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::AddSampleSafe	(	float	intensity,
		float	altitude,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level
	)

Add sample to the map cell with check.

BottomUpBase()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::BottomUpBase

(

)

Propagate the data from fine level to the coarse resolution by check. only update count, intensity, intensity var and altitude.

BottomUpSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::BottomUpSafe

(

)

Propagate the data from fine level to the coarse resolution by check.

Clear()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Clear

(

)

Release all memory in PyramidMapMatrix.

ComputeMeanIntensity()

double apollo::localization::msf::pyramid_map::PyramidMapMatrix::ComputeMeanIntensity

(

unsigned int

level = 0

)

Compute mean intensity.

GetAltitude()

const float * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitude ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get an altitude value without check.

GetAltitudeImg() [1/2]

virtual bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeImg ( cv::Mat *  altitude_img ) const

virtual

get altitude image of node.

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

GetAltitudeImg() [2/2]

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeImg	(	unsigned int	level,
		cv::Mat *	altitude_img
	)		const

GetAltitudeMatrix() [1/2]

FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeMatrix ( unsigned int  level = 0 )

inline

GetAltitudeMatrix() [2/2]

const FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeMatrix ( unsigned int  level = 0 ) const

inline

GetAltitudeMatrixSafe() [1/2]

FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeMatrixSafe

(

unsigned int

level = 0

)

GetAltitudeMatrixSafe() [2/2]

const FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeMatrixSafe

(

unsigned int

level = 0

)

const

GetAltitudeSafe()

const float* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get an altitude value by check.

GetAltitudeVar()

const float * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVar ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get an altitude variance value without check.

GetAltitudeVarMatrix() [1/2]

FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVarMatrix ( unsigned int  level = 0 )

inline

GetAltitudeVarMatrix() [2/2]

const FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVarMatrix ( unsigned int  level = 0 ) const

inline

GetAltitudeVarMatrixSafe() [1/2]

FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVarMatrixSafe

(

unsigned int

level = 0

)

GetAltitudeVarMatrixSafe() [2/2]

const FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVarMatrixSafe

(

unsigned int

level = 0

)

const

GetAltitudeVarSafe()

const float* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetAltitudeVarSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get an altitude variance value by check.

GetCols()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCols ( unsigned int  level = 0 ) const

inline

Get column number given the resolution.

GetColsSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetColsSafe ( unsigned int  level = 0 ) const

inline

Get column number given the resolution by check.

GetCount()

const unsigned int * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCount ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get a count value without check.

GetCountMatrix() [1/2]

UIntMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCountMatrix ( unsigned int  level = 0 )

inline

GetCountMatrix() [2/2]

const UIntMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCountMatrix ( unsigned int  level = 0 ) const

inline

GetCountMatrixSafe() [1/2]

UIntMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCountMatrixSafe

(

unsigned int

level = 0

)

GetCountMatrixSafe() [2/2]

const UIntMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCountMatrixSafe

(

unsigned int

level = 0

)

const

GetCountSafe()

const unsigned int* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetCountSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get a count value by check.

GetGroundAltitude()

const float * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitude ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get an altitude ground value without check.

GetGroundAltitudeMatrix() [1/2]

FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitudeMatrix ( unsigned int  level = 0 )

inline

GetGroundAltitudeMatrix() [2/2]

const FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitudeMatrix ( unsigned int  level = 0 ) const

inline

GetGroundAltitudeMatrixSafe() [1/2]

FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitudeMatrixSafe

(

unsigned int

level = 0

)

GetGroundAltitudeMatrixSafe() [2/2]

const FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitudeMatrixSafe

(

unsigned int

level = 0

)

const

GetGroundAltitudeSafe()

const float* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundAltitudeSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get an altitude ground value by check.

GetGroundCount()

const unsigned int * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCount ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get a ground count value without check.

GetGroundCountMatrix() [1/2]

UIntMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCountMatrix ( unsigned int  level = 0 )

inline

GetGroundCountMatrix() [2/2]

const UIntMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCountMatrix ( unsigned int  level = 0 ) const

inline

GetGroundCountMatrixSafe() [1/2]

UIntMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCountMatrixSafe

(

unsigned int

level = 0

)

GetGroundCountMatrixSafe() [2/2]

const UIntMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCountMatrixSafe

(

unsigned int

level = 0

)

const

GetGroundCountSafe()

const unsigned int* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetGroundCountSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get a ground count value by check.

GetIntensity()

const float * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensity ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get an intensity value without check.

GetIntensityImg() [1/2]

virtual bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityImg ( cv::Mat *  intensity_img ) const

virtual

get intensity image of node.

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

GetIntensityImg() [2/2]

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityImg	(	unsigned int	level,
		cv::Mat *	intensity_img
	)		const

GetIntensityMatrix() [1/2]

FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityMatrix ( unsigned int  level = 0 )

inline

GetIntensityMatrix() [2/2]

const FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityMatrix ( unsigned int  level = 0 ) const

inline

GetIntensityMatrixSafe() [1/2]

FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityMatrixSafe

(

unsigned int

level = 0

)

GetIntensityMatrixSafe() [2/2]

const FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityMatrixSafe

(

unsigned int

level = 0

)

const

GetIntensitySafe()

const float* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensitySafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get an intensity value by check.

GetIntensityVar()

const float * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVar ( unsigned int  row, unsigned int  col, unsigned int  level = 0  ) const

inline

Get an intensity variance value by check.

GetIntensityVarMatrix() [1/2]

FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVarMatrix ( unsigned int  level = 0 )

inline

GetIntensityVarMatrix() [2/2]

const FloatMatrix * apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVarMatrix ( unsigned int  level = 0 ) const

inline

GetIntensityVarMatrixSafe() [1/2]

FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVarMatrixSafe

(

unsigned int

level = 0

)

GetIntensityVarMatrixSafe() [2/2]

const FloatMatrix* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVarMatrixSafe

(

unsigned int

level = 0

)

const

GetIntensityVarSafe()

const float* apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetIntensityVarSafe	(	unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)		const

Get an intensity variance value by check.

GetMapCellBase()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetMapCellBase ( float **  intensity, float **  intensity_var, float **  altitude, unsigned int **  count, unsigned int  row, unsigned int  col, unsigned int  level = 0  )

inline

Get cell values. just get count, intensity, intensity var and altitude.

GetMapCellSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetMapCellSafe	(	float **	intensity,
		float **	intensity_var,
		float **	altitude,
		float **	altitude_var,
		float **	ground_altitude,
		unsigned int **	count,
		unsigned int **	ground_count,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Get cell values by check.

GetResolutionNum()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetResolutionNum ( ) const

inline

Get number of resolution.

GetResolutionRatio()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetResolutionRatio ( ) const

inline

Get the resolution ratio.

GetRows()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetRows ( unsigned int  level = 0 ) const

inline

Get row number given the resolution.

GetRowsSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMapMatrix::GetRowsSafe ( unsigned int  level = 0 ) const

inline

Get row number given the resolution by check.

HasAltitude()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasAltitude ( ) const

inline

HasAltitudeVar()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasAltitudeVar ( ) const

inline

HasCount()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasCount ( ) const

inline

HasGroundAltitude()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasGroundAltitude ( ) const

inline

HasGroundCount()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasGroundCount ( ) const

inline

HasIntensity()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasIntensity ( ) const

inline

HasIntensityVar()

bool apollo::localization::msf::pyramid_map::PyramidMapMatrix::HasIntensityVar ( ) const

inline

Init() [1/2]

virtual void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Init ( const BaseMapConfig &  config )

virtual

Initialize the map matrix.

Implements apollo::localization::msf::pyramid_map::BaseMapMatrix.

Init() [2/2]

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Init	(	unsigned int	rows,
		unsigned int	cols,
		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	ratio = 2
	)

MergeCellBase()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::MergeCellBase ( const float *  intensity, const float *  intensity_var, const float *  altitude, const unsigned int *  count, unsigned int  row, unsigned int  col, unsigned int  level  )

inline

Merge the data from another map cell. only merge count, intensity, intensity var and altitude.

MergeCellSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::MergeCellSafe	(	const float *	intensity,
		const float *	intensity_var,
		const float *	altitude,
		const float *	altitude_var,
		const float *	ground_altitude,
		const unsigned int *	count,
		const unsigned int *	ground_count,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level
	)

Merge the data from another map cell by check.

operator=()

PyramidMapMatrix& apollo::localization::msf::pyramid_map::PyramidMapMatrix::operator=

(

const PyramidMapMatrix &

map_matrix

)

Reduce()

static void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Reduce ( std::shared_ptr< PyramidMapMatrix >  cells, const PyramidMapMatrix &  new_cells, unsigned int  level = 0, unsigned int  new_level = 0  )

static

Combine two PyramidMapMatrix instances (Reduce).

Reset() [1/2]

virtual void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Reset ( )

virtual

Reset map cells data.

Implements apollo::localization::msf::pyramid_map::BaseMapMatrix.

Reset() [2/2]

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::Reset

(

unsigned int

level

)

Reset all of map cells data in a specific resolution level.

ResetCell()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::ResetCell	(	unsigned int	id,
		unsigned int	level = 0
	)

Reset a map cell in a specific resolution level.

ResetCells()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::ResetCells	(	unsigned int	start_id,
		unsigned int	end_id,
		unsigned int	level = 0
	)

Reset map cells data from start_id to end_id in a specific resolution level.

SetAltitudeMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetAltitudeMatrix	(	const float *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetAltitudeSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetAltitudeSafe	(	float	altitude,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set an altitude value by check.

SetAltitudeVarMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetAltitudeVarMatrix	(	const float *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetAltitudeVarSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetAltitudeVarSafe	(	float	altitude_var,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set an altitude variance value by check.

SetCountMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetCountMatrix	(	const unsigned int *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetCountSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetCountSafe	(	unsigned int	count,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set a count value by check.

SetFloatMatrixRoi()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetFloatMatrixRoi	(	const FloatMatrix *	source_matrix,
		const Rect2D< unsigned int > &	source_roi,
		const Rect2D< unsigned int > &	target_roi,
		unsigned int	type,
		unsigned int	level = 0
	)

set float matrix with a ROI. type: intensity 0; intensity_var 1; altitude 2; altitude_var 3; ground_altitude 4;

SetGroundAltitudeMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetGroundAltitudeMatrix	(	const float *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetGroundAltitudeSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetGroundAltitudeSafe	(	float	ground_altitude,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set an altitude ground value by check.

SetGroundCountMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetGroundCountMatrix	(	const unsigned int *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetGroundCountSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetGroundCountSafe	(	unsigned int	ground_count,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set a ground count value by check.

SetIntensityMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetIntensityMatrix	(	const float *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetIntensitySafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetIntensitySafe	(	float	intensity,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set an intensity value by check.

SetIntensityVarMatrix()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetIntensityVarMatrix	(	const float *	input,
		unsigned int	size,
		unsigned int	start_index,
		unsigned int	level = 0
	)

SetIntensityVarSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetIntensityVarSafe	(	float	intensity_var,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set an intensity variance value by check.

SetUintMatrixRoi()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetUintMatrixRoi	(	const UIntMatrix *	source_matrix,
		const Rect2D< unsigned int > &	source_roi,
		const Rect2D< unsigned int > &	target_roi,
		unsigned int	type,
		unsigned int	level = 0
	)

set unsigned int matrix with a ROI. type: count 0; ground cout 1;

SetValueSafe()

void apollo::localization::msf::pyramid_map::PyramidMapMatrix::SetValueSafe	(	unsigned char	intensity,
		float	altitude,
		unsigned int	row,
		unsigned int	col,
		unsigned int	level = 0
	)

Set the several values by check.

Parameters

<altitude>	The altitude of the cell.
<intensity>	The reflectance intensity.

---

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

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