Program Listing for File wall_mapper.hpp
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/*
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#ifndef WALL_MAPPER_HPP
#define WALL_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/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 WallMapper {
typedef pcl::PointXYZRGBNormal PointNormal;
public:
WallMapper(const rclcpp::Node::SharedPtr node);
~WallMapper();
public:
void factor_wall(
const std::shared_ptr<GraphSLAM> covisibility_graph,
const Eigen::Vector3d& wall_pose,
const Eigen::Vector3d& wall_point,
const std::vector<situational_graphs_msgs::msg::PlaneData> x_planes_msg,
const std::vector<situational_graphs_msgs::msg::PlaneData> y_planes_msg,
std::unordered_map<int, VerticalPlanes>& x_vert_planes,
std::unordered_map<int, VerticalPlanes>& y_vert_planes);
void add_wall_node_and_edge(const std::shared_ptr<GraphSLAM> covisibility_graph,
const Eigen::Vector3d& wall_pose,
const Eigen::Vector3d& wall_point,
VerticalPlanes& plane1,
VerticalPlanes& plane2);
private:
bool use_point_to_plane;
private:
rclcpp::Node::SharedPtr node_obj;
};
} // namespace s_graphs
#endif // WALL_MAPPER_HPP