Program Listing for File plane_mapper.hpp

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/*
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#ifndef PLANE_MAPPER_HPP
#define PLANE_MAPPER_HPP

#include <g2o/types/slam3d_addons/vertex_plane.h>
#include <math.h>
#include <pcl/common/common.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

#include <boost/format.hpp>
#include <cmath>
#include <g2o/edge_se3_point_to_plane.hpp>
#include <s_graphs/backend/graph_slam.hpp>
#include <s_graphs/common/graph_utils.hpp>
#include <s_graphs/common/keyframe.hpp>
#include <s_graphs/common/plane_utils.hpp>
#include <s_graphs/common/planes.hpp>
#include <string>

#include "geometry_msgs/msg/point.hpp"
#include "pcl_ros/transforms.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "situational_graphs_msgs/msg/plane_data.hpp"
#include "situational_graphs_msgs/msg/planes_data.hpp"
#include "situational_graphs_msgs/msg/room_data.hpp"
#include "situational_graphs_msgs/msg/rooms_data.hpp"
#include "visualization_msgs/msg/marker_array.hpp"

namespace s_graphs {

class PlaneMapper {
  typedef pcl::PointXYZRGBNormal PointNormal;

 public:
  PlaneMapper(const rclcpp::Node::SharedPtr node);
  ~PlaneMapper();

 public:
  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);

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

  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);

  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);

 private:
  int add_planes_to_graph(std::shared_ptr<GraphSLAM>& graph_slam,
                          KeyFrame::Ptr& keyframe,
                          const g2o::Plane3D& det_plane_body_frame,
                          std::unordered_map<int, VerticalPlanes>& x_vert_planes,
                          std::unordered_map<int, VerticalPlanes>& y_vert_planes,
                          std::unordered_map<int, HorizontalPlanes>& hort_planes);

  int sort_planes(std::shared_ptr<GraphSLAM>& graph_slam,
                  const int& plane_type,
                  KeyFrame::Ptr& keyframe,
                  const g2o::Plane3D& det_plane_map_frame,
                  const g2o::Plane3D& det_plane_body_frame,
                  std::unordered_map<int, VerticalPlanes>& x_vert_planes,
                  std::unordered_map<int, VerticalPlanes>& y_vert_planes,
                  std::unordered_map<int, HorizontalPlanes>& hort_planes);

  int factor_planes(std::shared_ptr<GraphSLAM>& graph_slam,
                    const int& plane_type,
                    KeyFrame::Ptr& keyframe,
                    const g2o::Plane3D& det_plane_map_frame,
                    const g2o::Plane3D& det_plane_body_frame,
                    std::unordered_map<int, VerticalPlanes>& x_vert_planes,
                    std::unordered_map<int, VerticalPlanes>& y_vert_planes,
                    std::unordered_map<int, HorizontalPlanes>& hort_planes);

  void retrieve_plane_properties(const int& plane_type,
                                 const int& plane_id,
                                 const KeyFrame::Ptr& keyframe,
                                 const g2o::Plane3D& det_plane_map_frame,
                                 bool& found_infinite_room,
                                 bool& found_room,
                                 plane_data_list& plane_id_pair);

 private:
  bool use_point_to_plane;
  double plane_information;
  double plane_dist_threshold;
  double plane_points_dist;
  double infinite_room_min_plane_length;
  double room_min_plane_length, room_max_plane_length;
  double min_plane_points;
  bool use_infinite_room_constraint;
  bool use_room_constraint;

 private:
  rclcpp::Node::SharedPtr node_obj;
};

}  // namespace s_graphs

#endif  // PLANE_MAPPER_HPP