Program Listing for File graph_utils.hpp

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/*
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#ifndef __GRAPH_UTILS_HPP_
#define __GRAPH_UTILS_HPP_

#include <g2o/core/hyper_graph.h>
#include <g2o/core/optimizable_graph.h>
#include <g2o/types/slam3d/edge_se3.h>

#include <boost/bind.hpp>
#include <g2o/edge_loop_closure.hpp>
#include <g2o/edge_plane.hpp>
#include <g2o/edge_room.hpp>
#include <g2o/edge_se3_plane.hpp>
#include <g2o/vertex_floor.hpp>
#include <s_graphs/backend/graph_slam.hpp>
#include <s_graphs/common/floors.hpp>
#include <s_graphs/common/infinite_rooms.hpp>
#include <s_graphs/common/optimization_data.hpp>
#include <s_graphs/common/planes.hpp>
#include <s_graphs/common/rooms.hpp>
#include <unordered_set>

namespace s_graphs {

class GraphUtils {
 public:
  GraphUtils() {}

  static void copy_graph(const std::shared_ptr<GraphSLAM>& covisibility_graph,
                         std::unique_ptr<GraphSLAM>& compressed_graph,
                         const std::map<int, KeyFrame::Ptr>& keyframes);

  static void copy_graph_vertices(const std::shared_ptr<GraphSLAM>& covisibility_graph,
                                  const std::unique_ptr<GraphSLAM>& compressed_graph);

  static std::vector<g2o::VertexSE3*> copy_graph_edges(
      const std::shared_ptr<GraphSLAM>& covisibility_graph,
      const std::unique_ptr<GraphSLAM>& compressed_graph);

  static void copy_windowed_graph(const int window_size,
                                  const std::shared_ptr<GraphSLAM>& covisibility_graph,
                                  const std::unique_ptr<GraphSLAM>& compressed_graph,
                                  const std::map<int, KeyFrame::Ptr>& keyframes);

  static int copy_keyframes_to_graph(
      const std::shared_ptr<GraphSLAM>& covisibility_graph,
      const std::unique_ptr<GraphSLAM>& compressed_graph,
      const std::map<int, KeyFrame::Ptr>& keyframe_window);

  static std::vector<g2o::VertexSE3*> connect_keyframes(
      const std::shared_ptr<GraphSLAM>& covisibility_graph,
      const std::unique_ptr<GraphSLAM>& compressed_graph,
      const std::map<int, KeyFrame::Ptr>& complete_keyframe_window,
      bool& anchor_node_exists);

  static std::unordered_set<g2o::VertexSE3*> connect_keyframes_planes(
      const std::shared_ptr<GraphSLAM>& covisibility_graph,
      GraphSLAM* compressed_graph);

  static void connect_broken_keyframes(
      std::vector<g2o::VertexSE3*> filtered_k_vec,
      const std::shared_ptr<GraphSLAM>& covisibility_graph,
      const std::unique_ptr<GraphSLAM>& compressed_graph,
      const std::map<int, KeyFrame::Ptr>& keyframes);

  static void fix_and_connect_keyframes(
      GraphSLAM* compressed_graph,
      const std::unordered_set<g2o::VertexSE3*>& fixed_keyframes_set);

  static void connect_planes_rooms(const std::shared_ptr<GraphSLAM>& covisibility_graph,
                                   GraphSLAM* compressed_graph);

  static void connect_rooms_floors(const std::shared_ptr<GraphSLAM>& covisibility_graph,
                                   GraphSLAM* compressed_graph);

  static void update_graph(const std::unique_ptr<GraphSLAM>& compressed_graph,
                           std::map<int, KeyFrame::Ptr> keyframes,
                           std::unordered_map<int, VerticalPlanes>& x_vert_planes,
                           std::unordered_map<int, VerticalPlanes>& y_vert_planes,
                           std::unordered_map<int, Rooms>& rooms_vec,
                           std::unordered_map<int, InfiniteRooms>& x_infinite_rooms,
                           std::unordered_map<int, InfiniteRooms>& y_infinite_rooms,
                           std::unordered_map<int, Floors>& floors_vec);

  static void set_marginalize_info(const std::shared_ptr<GraphSLAM>& local_graph,
                                   const std::shared_ptr<GraphSLAM>& covisibility_graph,
                                   const std::map<int, KeyFrame::Ptr>& room_keyframes);

  static bool get_keyframe_marg_data(g2o::VertexSE3* vertex_se3);
};

}  // namespace s_graphs

#endif