Class PlaneMapper

Class Documentation

class PlaneMapper

Public Functions

PlaneMapper(const rclcpp::Node::SharedPtr node)

Contructor of class PlaneMapper.

Parameters:

private_nh –

~PlaneMapper()
void map_extracted_planes(std::shared_ptr<GraphSLAM> &graph_slam, KeyFrame::Ptr keyframe, const std::vector<pcl::PointCloud<PointNormal>::Ptr> &extracted_cloud_vec, std::unordered_map<int, VerticalPlanes> &x_vert_planes, std::unordered_map<int, VerticalPlanes> &y_vert_planes, std::unordered_map<int, HorizontalPlanes> &hort_planes)
Parameters:

  • graph_slam –

  • keyframe –

  • extracted_cloud_vec –

  • x_vert_planes –

  • y_vert_planes –

  • hort_planes –

g2o::Plane3D convert_plane_to_map_frame(const KeyFrame::Ptr &keyframe, const g2o::Plane3D &det_plane_body_frame)
Parameters:

  • keyframe –

  • det_plane_body_frame –

Returns:

void convert_plane_points_to_map(std::unordered_map<int, VerticalPlanes> &x_vert_planes, std::unordered_map<int, VerticalPlanes> &y_vert_planes, std::unordered_map<int, HorizontalPlanes> &hort_planes)
Parameters:

  • x_vert_planes –

  • y_vert_planes –

  • hort_planes –

int associate_plane(const int &plane_type, const KeyFrame::Ptr &keyframe, const g2o::Plane3D &det_plane, const pcl::PointCloud<PointNormal>::Ptr &cloud_seg_body, const std::unordered_map<int, VerticalPlanes> &x_vert_planes, const std::unordered_map<int, VerticalPlanes> &y_vert_planes, const std::unordered_map<int, HorizontalPlanes> &hort_planes)
Parameters:

  • plane_type –

  • keyframe –

  • det_plane –

  • cloud_seg_body –

  • x_vert_planes –

  • y_vert_planes –

  • hort_planes –

Returns: