Class PlaneUtils

Defined in File plane_utils.hpp

Class Documentation

class PlaneUtils

Public Types

enum plane_class

Values:

enumerator X_VERT_PLANE

enumerator Y_VERT_PLANE

enumerator HORT_PLANE

Public Functions

PlaneUtils()

Public Static Functions

static float width_between_planes(Eigen::Vector4d v1, Eigen::Vector4d v2)

Param :

static float width_between_planes(const situational_graphs_msgs::msg::PlaneData &plane1, const situational_graphs_msgs::msg::PlaneData &plane2)

Param :

static void correct_plane_direction(int plane_type, situational_graphs_msgs::msg::PlaneData &plane)

Param :

static void correct_plane_direction(int plane_type, Eigen::Vector4d &plane)

Param :

static Eigen::Quaterniond euler_to_quaternion(const double roll, const double pitch, const double yaw)

static Eigen::Vector2d room_center(const Eigen::Vector4d &x_plane1, const Eigen::Vector4d &x_plane2, const Eigen::Vector4d &y_plane1, const Eigen::Vector4d &y_plane2)

Param :

static geometry_msgs::msg::Pose room_center(const situational_graphs_msgs::msg::PlaneData &x_plane1, const situational_graphs_msgs::msg::PlaneData &x_plane2, const situational_graphs_msgs::msg::PlaneData &y_plane1, const situational_graphs_msgs::msg::PlaneData &y_plane2)

Param :

static float plane_length(pcl::PointCloud<PointNormal>::Ptr cloud_seg, pcl::PointXY &p1, pcl::PointXY &p2, g2o::VertexSE3 *keyframe_node)

Param :

static float plane_length(pcl::PointCloud<PointNormal>::Ptr cloud_seg, pcl::PointXY &p1, pcl::PointXY &p2)

Param :

static pcl::PointXY convert_point_to_map(pcl::PointXY point_local, Eigen::Matrix4d keyframe_pose)

Param :

static float get_min_segment(const pcl::PointCloud<PointNormal>::Ptr &cloud_1, const pcl::PointCloud<PointNormal>::Ptr &cloud_2)

Param :

static bool check_point_neighbours(const pcl::PointCloud<PointNormal>::Ptr &cloud_1, const pcl::PointCloud<PointNormal>::Ptr &cloud_2)

Param :

static bool compute_point_difference(const double plane1_point, const double plane2_point)

Param :

static float plane_dot_product(const situational_graphs_msgs::msg::PlaneData &plane1, const situational_graphs_msgs::msg::PlaneData &plane2)

Param :

static bool plane_dot_product(g2o::VertexPlane *plane1, g2o::VertexPlane *plane2)

static geometry_msgs::msg::Pose extract_infite_room_center(int plane_type, pcl::PointXY p1, pcl::PointXY p2, situational_graphs_msgs::msg::PlaneData plane1, situational_graphs_msgs::msg::PlaneData plane2, Eigen::Vector2d &cluster_center)

static double plane_difference(g2o::Plane3D plane1, g2o::Plane3D plane2)

Param :