Program Listing for File plane_utils.hpp

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/*
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*/

#ifndef PLANE_UTILS_HPP
#define PLANE_UTILS_HPP

#include <g2o/types/slam3d/vertex_se3.h>
#include <pcl/common/angles.h>
#include <pcl/common/common.h>
#include <pcl/common/distances.h>

#include <Eigen/Dense>
#include <g2o/edge_se3_plane.hpp>
#include <s_graphs/common/planes.hpp>

#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "situational_graphs_msgs/msg/planes_data.hpp"

namespace s_graphs {

struct plane_data_list {
  plane_data_list() {}
  g2o::Plane3D plane_unflipped;
  int plane_id;
};

struct structure_data_list {
  plane_data_list plane1;
  plane_data_list plane2;
};

class PlaneUtils {
 public:
  PlaneUtils();

 public:
  enum plane_class : uint8_t {
    X_VERT_PLANE = 0,
    Y_VERT_PLANE = 1,
    HORT_PLANE = 2,
  };

  static float width_between_planes(Eigen::Vector4d v1, Eigen::Vector4d v2);

  static float width_between_planes(
      const situational_graphs_msgs::msg::PlaneData& plane1,
      const situational_graphs_msgs::msg::PlaneData& plane2);

  static void correct_plane_direction(int plane_type,
                                      situational_graphs_msgs::msg::PlaneData& plane);

  static void correct_plane_direction(int plane_type, Eigen::Vector4d& plane);

  /* @brief
   *
   * @param
   * @return
   */
  static Eigen::Quaterniond euler_to_quaternion(const double roll,
                                                const double pitch,
                                                const double yaw);

  static Eigen::Vector2d room_center(const Eigen::Vector4d& x_plane1,
                                     const Eigen::Vector4d& x_plane2,
                                     const Eigen::Vector4d& y_plane1,
                                     const Eigen::Vector4d& y_plane2);

  static geometry_msgs::msg::Pose room_center(
      const situational_graphs_msgs::msg::PlaneData& x_plane1,
      const situational_graphs_msgs::msg::PlaneData& x_plane2,
      const situational_graphs_msgs::msg::PlaneData& y_plane1,
      const situational_graphs_msgs::msg::PlaneData& y_plane2);

  static float plane_length(pcl::PointCloud<PointNormal>::Ptr cloud_seg,
                            pcl::PointXY& p1,
                            pcl::PointXY& p2,
                            g2o::VertexSE3* keyframe_node);

  static float plane_length(pcl::PointCloud<PointNormal>::Ptr cloud_seg,
                            pcl::PointXY& p1,
                            pcl::PointXY& p2);

  static pcl::PointXY convert_point_to_map(pcl::PointXY point_local,
                                           Eigen::Matrix4d keyframe_pose);

  static float get_min_segment(const pcl::PointCloud<PointNormal>::Ptr& cloud_1,
                               const pcl::PointCloud<PointNormal>::Ptr& cloud_2);

  static bool check_point_neighbours(const pcl::PointCloud<PointNormal>::Ptr& cloud_1,
                                     const pcl::PointCloud<PointNormal>::Ptr& cloud_2);

  static bool compute_point_difference(const double plane1_point,
                                       const double plane2_point);

  static float plane_dot_product(const situational_graphs_msgs::msg::PlaneData& plane1,
                                 const situational_graphs_msgs::msg::PlaneData& plane2);

  static bool plane_dot_product(g2o::VertexPlane* plane1, g2o::VertexPlane* plane2);

  static geometry_msgs::msg::Pose extract_infite_room_center(
      int plane_type,
      pcl::PointXY p1,
      pcl::PointXY p2,
      situational_graphs_msgs::msg::PlaneData plane1,
      situational_graphs_msgs::msg::PlaneData plane2,
      Eigen::Vector2d& cluster_center);
  static double plane_difference(g2o::Plane3D plane1, g2o::Plane3D plane2);
};
}  // namespace s_graphs
#endif  // PLANE_UTILS_HPP