Program Listing for File room_mapper.hpp
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#ifndef ROOM_MAPPER_HPP
#define ROOM_MAPPER_HPP
#include <g2o/types/slam3d_addons/vertex_plane.h>
#include <math.h>
#include <boost/bind.hpp>
#include <boost/format.hpp>
#include <g2o/edge_infinite_room_plane.hpp>
#include <g2o/edge_plane.hpp>
#include <g2o/edge_room.hpp>
#include <g2o/vertex_infinite_room.hpp>
#include <g2o/vertex_room.hpp>
#include <s_graphs/backend/graph_slam.hpp>
#include <s_graphs/common/infinite_rooms.hpp>
#include <s_graphs/common/plane_utils.hpp>
#include <s_graphs/common/planes.hpp>
#include <s_graphs/common/rooms.hpp>
#include <string>
#include "geometry_msgs/msg/point.hpp"
#include "rclcpp/rclcpp.hpp"
#include "situational_graphs_msgs/msg/rooms_data.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
namespace s_graphs {
class MapperUtils {
public:
MapperUtils() {}
public:
inline float point_difference(int plane_type, pcl::PointXY p1, pcl::PointXY p2) {
float point_diff = 0;
if (plane_type == PlaneUtils::plane_class::X_VERT_PLANE) {
p1.x = 0;
p2.x = 0;
point_diff = pcl::euclideanDistance(p1, p2);
}
if (plane_type == PlaneUtils::plane_class::Y_VERT_PLANE) {
p1.y = 0;
p2.y = 0;
point_diff = pcl::euclideanDistance(p1, p2);
}
return point_diff;
}
void parallel_plane_constraint(std::shared_ptr<GraphSLAM>& graph_slam,
g2o::VertexPlane* plane1_node,
g2o::VertexPlane* plane2_node) {
Eigen::Matrix<double, 1, 1> information(0.1);
Eigen::Vector3d meas(0, 0, 0);
auto edge = graph_slam->add_plane_parallel_edge(
plane1_node, plane2_node, meas, information);
graph_slam->add_robust_kernel(edge, "Huber", 1.0);
}
void perpendicular_plane_constraint(std::shared_ptr<GraphSLAM>& graph_slam,
g2o::VertexPlane* plane1_node,
g2o::VertexPlane* plane2_node) {
Eigen::Matrix<double, 1, 1> information(0.1);
Eigen::Vector3d meas(0, 0, 0);
auto edge = graph_slam->add_plane_perpendicular_edge(
plane1_node, plane2_node, meas, information);
graph_slam->add_robust_kernel(edge, "Huber", 1.0);
}
bool check_plane_ids(const std::set<g2o::HyperGraph::Edge*>& plane_edges,
const g2o::VertexPlane* plane_node) {
for (auto edge_itr = plane_edges.begin(); edge_itr != plane_edges.end();
++edge_itr) {
g2o::Edge2Planes* edge_2planes = dynamic_cast<g2o::Edge2Planes*>(*edge_itr);
if (edge_2planes) {
g2o::VertexPlane* found_plane1_node =
dynamic_cast<g2o::VertexPlane*>(edge_2planes->vertices()[0]);
g2o::VertexPlane* found_plane2_node =
dynamic_cast<g2o::VertexPlane*>(edge_2planes->vertices()[1]);
if (found_plane1_node->id() == plane_node->id() ||
found_plane2_node->id() == plane_node->id())
return true;
}
}
return false;
}
};
class InfiniteRoomMapper : public MapperUtils {
typedef pcl::PointXYZRGBNormal PointNormal;
public:
InfiniteRoomMapper(const rclcpp::Node::SharedPtr node);
~InfiniteRoomMapper();
private:
rclcpp::Node::SharedPtr node_obj;
public:
bool lookup_infinite_rooms(
std::shared_ptr<GraphSLAM>& graph_slam,
const int& plane_type,
const situational_graphs_msgs::msg::RoomData room_data,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_x_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_y_vert_planes,
std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
std::unordered_map<int, InfiniteRooms>& y_infinite_rooms,
const std::unordered_map<int, Rooms>& rooms_vec);
private:
bool factor_infinite_rooms(
std::shared_ptr<GraphSLAM>& graph_slam,
const int plane_type,
const plane_data_list& corr_plane1_pair,
const plane_data_list& corr_plane2_pair,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_x_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_y_vert_planes,
std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
std::unordered_map<int, InfiniteRooms>& y_infinite_rooms,
const Eigen::Isometry3d& room_center,
const Eigen::Isometry3d& cluster_center,
const visualization_msgs::msg::MarkerArray& cluster_array);
int associate_infinite_rooms(
const int& plane_type,
const Eigen::Isometry3d& room_center,
const VerticalPlanes& plane1,
const VerticalPlanes& plane2,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
const std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
const std::unordered_map<int, InfiniteRooms>& y_infinite_rooms,
std::vector<std::pair<VerticalPlanes, VerticalPlanes>>&
detected_mapped_plane_pairs);
bool check_infinite_room_ids(const int plane_type,
const std::set<g2o::HyperGraph::Edge*>& plane_edges,
const g2o::VertexRoom* corr_node);
private:
void parallel_plane_constraint(std::shared_ptr<GraphSLAM>& graph_slam,
g2o::VertexPlane* plane1_node,
g2o::VertexPlane* plane2_node);
private:
double infinite_room_information;
double infinite_room_dist_threshold;
bool use_parallel_plane_constraint, use_perpendicular_plane_constraint;
double dupl_plane_matching_information;
};
class FiniteRoomMapper : public MapperUtils {
typedef pcl::PointXYZRGBNormal PointNormal;
public:
FiniteRoomMapper(const rclcpp::Node::SharedPtr node);
~FiniteRoomMapper();
private:
rclcpp::Node::SharedPtr node_obj;
public:
bool lookup_rooms(
std::shared_ptr<GraphSLAM>& graph_slam,
const situational_graphs_msgs::msg::RoomData room_data,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_x_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_y_vert_planes,
std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
std::unordered_map<int, InfiniteRooms>& y_infinite_rooms,
std::unordered_map<int, Rooms>& rooms_vec,
int& room_id);
double room_measurement(const int& plane_type,
const Eigen::Vector2d& room_pose,
const Eigen::Vector4d& plane);
private:
bool factor_rooms(
std::shared_ptr<GraphSLAM>& graph_slam,
std::vector<plane_data_list> x_room_pair_vec,
std::vector<plane_data_list> y_room_pair_vec,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_x_vert_planes,
std::deque<std::pair<VerticalPlanes, VerticalPlanes>>& dupl_y_vert_planes,
std::unordered_map<int, Rooms>& rooms_vec,
int& room_id,
const Eigen::Isometry3d& room_center,
const visualization_msgs::msg::MarkerArray& cluster_array);
int associate_rooms(const Eigen::Isometry3d& room_center,
const std::unordered_map<int, Rooms>& rooms_vec,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
const VerticalPlanes& x_plane1,
const VerticalPlanes& x_plane2,
const VerticalPlanes& y_plane1,
const VerticalPlanes& y_plane2,
std::vector<std::pair<VerticalPlanes, VerticalPlanes>>&
detected_mapped_plane_pairs);
bool check_room_ids(const int plane_type,
const std::set<g2o::HyperGraph::Edge*>& plane_edges,
const g2o::VertexRoom* room_node);
bool check_plane_ids(const std::set<g2o::HyperGraph::Edge*>& plane_edges,
const g2o::VertexPlane* plane_node);
void map_room_from_existing_infinite_rooms(
std::shared_ptr<GraphSLAM>& graph_slam,
const situational_graphs_msgs::msg::RoomData& det_room_data,
const s_graphs::InfiniteRooms& matched_x_infinite_room,
const s_graphs::InfiniteRooms& matched_y_infinite_room,
const Eigen::Isometry3d& room_center,
std::unordered_map<int, Rooms>& rooms_vec,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
const VerticalPlanes& x_plane1,
const VerticalPlanes& x_plane2,
const VerticalPlanes& y_plane1,
const VerticalPlanes& y_plane2);
void map_room_from_existing_x_infinite_room(
std::shared_ptr<GraphSLAM>& graph_slam,
const situational_graphs_msgs::msg::RoomData& det_room_data,
const s_graphs::InfiniteRooms& matched_x_infinite_room,
const Eigen::Isometry3d& room_center,
std::unordered_map<int, Rooms>& rooms_vec,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
const VerticalPlanes& x_plane1,
const VerticalPlanes& x_plane2,
const VerticalPlanes& y_plane1,
const VerticalPlanes& y_plane2);
void map_room_from_existing_y_infinite_room(
std::shared_ptr<GraphSLAM>& graph_slam,
const situational_graphs_msgs::msg::RoomData& det_room_data,
const s_graphs::InfiniteRooms& matched_y_infinite_room,
const Eigen::Isometry3d& room_center,
std::unordered_map<int, Rooms>& rooms_vec,
const std::unordered_map<int, VerticalPlanes>& x_vert_planes,
const std::unordered_map<int, VerticalPlanes>& y_vert_planes,
const VerticalPlanes& x_plane1,
const VerticalPlanes& x_plane2,
const VerticalPlanes& y_plane1,
const VerticalPlanes& y_plane2);
void remove_mapped_infinite_room(
const int plane_type,
std::shared_ptr<GraphSLAM>& graph_slam,
s_graphs::InfiniteRooms matched_infinite_room,
std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
std::unordered_map<int, InfiniteRooms>& y_infinite_rooms);
private:
double room_information;
double room_dist_threshold;
bool use_parallel_plane_constraint, use_perpendicular_plane_constraint;
double dupl_plane_matching_information;
};
} // namespace s_graphs
#endif // ROOM_MAPPER_HPP