Program Listing for File rooms.hpp
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/*
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#ifndef ROOMS_HPP
#define ROOMS_HPP
#include <g2o/types/slam3d_addons/plane3d.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <Eigen/Eigen>
#include <s_graphs/common/keyframe.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
namespace g2o {
class VertexRoom;
class HyperGraph;
class SparseOptimizer;
} // namespace g2o
namespace s_graphs {
class Rooms {
public:
Rooms() {}
Rooms(const Rooms &old_room, const bool deep_copy = false) {
*this = old_room;
if (deep_copy) {
node = new g2o::VertexRoom();
node->setEstimate(old_room.node->estimate());
plane_x1_node = new g2o::VertexPlane();
plane_x1_node->setEstimate(old_room.plane_x1_node->estimate());
plane_x2_node = new g2o::VertexPlane();
plane_x2_node->setEstimate(old_room.plane_x2_node->estimate());
plane_y1_node = new g2o::VertexPlane();
plane_y1_node->setEstimate(old_room.plane_y1_node->estimate());
plane_y2_node = new g2o::VertexPlane();
plane_y2_node->setEstimate(old_room.plane_y2_node->estimate());
// room_keyframes.reserve(old_room.room_keyframes.size());
for (const auto &k : old_room.room_keyframes) {
std::make_shared<KeyFrameSnapshot>(k.second);
}
}
}
Rooms &operator=(const Rooms &old_room) {
id = old_room.id;
prior_id = old_room.prior_id;
plane_x1 = old_room.plane_x1;
plane_x2 = old_room.plane_x2;
plane_y1 = old_room.plane_y1;
plane_y2 = old_room.plane_y2;
plane_x1_id = old_room.plane_x1_id;
plane_x2_id = old_room.plane_x2_id;
plane_y1_id = old_room.plane_y1_id;
plane_y2_id = old_room.plane_y2_id;
sub_room = old_room.sub_room;
cluster_array = old_room.cluster_array;
plane_x1_node = old_room.plane_x1_node;
plane_x2_node = old_room.plane_x2_node;
plane_y1_node = old_room.plane_y1_node;
plane_y2_node = old_room.plane_y2_node;
node = old_room.node;
room_keyframes = old_room.room_keyframes;
local_graph = old_room.local_graph;
matched = old_room.matched;
return *this;
}
bool save(const std::string &directory) {
if (!boost::filesystem::is_directory(directory)) {
boost::filesystem::create_directory(directory);
}
std::ofstream ofs(directory + "/room_data");
ofs << "id\n";
ofs << id << "\n";
ofs << "Plane_x1 \n";
ofs << plane_x1.coeffs() << "\n";
ofs << "Plane_x2 \n";
ofs << plane_x2.coeffs() << "\n";
ofs << "Plane_y1 \n";
ofs << plane_y1.coeffs() << "\n";
ofs << "Plane_y2 \n";
ofs << plane_y2.coeffs() << "\n";
ofs << "plane_x1_id \n";
ofs << plane_x1_id << "\n";
ofs << "plane_x2_id \n";
ofs << plane_x2_id << "\n";
ofs << "plane_y1_id \n";
ofs << plane_y1_id << "\n";
ofs << "plane_y2_id \n";
ofs << plane_y2_id << "\n";
ofs << "plane_x1_node \n";
ofs << plane_x1_node->estimate().coeffs() << "\n";
ofs << "plane_x2_node \n";
ofs << plane_x2_node->estimate().coeffs() << "\n";
ofs << "plane_y1_node \n";
ofs << plane_y1_node->estimate().coeffs() << "\n";
ofs << "plane_y2_node \n";
ofs << plane_y2_node->estimate().coeffs() << "\n";
ofs << "room_node \n";
ofs << node->estimate().matrix() << "\n";
ofs << "room_keyframes_ids\n";
std::cout << "room_keyframes.size() : " << room_keyframes.size() << std::endl;
for (const auto &room_keyframe : room_keyframes) {
ofs << room_keyframe.first << "\n";
std::cout << "keyframe id at : "
<< " " << room_keyframe.first << std::endl;
}
return true;
}
bool load(const std::string &directory, g2o::SparseOptimizer *local_graph) {
std::ifstream ifs(directory + "/room_data");
if (!ifs) {
return false;
}
while (!ifs.eof()) {
std::string token;
ifs >> token;
if (token == "id") {
ifs >> id;
node->setId(id);
} else if (token == "plane_x1_id") {
int id;
ifs >> id;
for (const auto &vertex_pair : local_graph->vertices()) {
g2o::VertexPlane *vertex =
dynamic_cast<g2o::VertexPlane *>(vertex_pair.second);
if (vertex && vertex->id() == id) {
plane_x1_node = vertex;
}
}
plane_x1_id = id;
} else if (token == "plane_x2_id") {
int id;
ifs >> id;
for (const auto &vertex_pair : local_graph->vertices()) {
g2o::VertexPlane *vertex =
dynamic_cast<g2o::VertexPlane *>(vertex_pair.second);
if (vertex && vertex->id() == id) {
plane_x2_node = vertex;
}
}
plane_x2_id = id;
} else if (token == "plane_y1_id") {
int id;
ifs >> id;
for (const auto &vertex_pair : local_graph->vertices()) {
g2o::VertexPlane *vertex =
dynamic_cast<g2o::VertexPlane *>(vertex_pair.second);
if (vertex && vertex->id() == id) {
plane_y1_node = vertex;
}
}
plane_y1_id = id;
} else if (token == "plane_y2_id") {
int id;
ifs >> id;
for (const auto &vertex_pair : local_graph->vertices()) {
g2o::VertexPlane *vertex =
dynamic_cast<g2o::VertexPlane *>(vertex_pair.second);
if (vertex && vertex->id() == id) {
plane_y2_node = vertex;
}
}
plane_y2_id = id;
} else if (token == "Plane_x1") {
Eigen::Vector4d plane_coeffs;
for (int i = 0; i < 4; i++) {
ifs >> plane_coeffs[i];
}
plane_x1.fromVector(plane_coeffs);
} else if (token == "Plane_x2") {
Eigen::Vector4d plane_coeffs;
for (int i = 0; i < 4; i++) {
ifs >> plane_coeffs[i];
}
plane_x2.fromVector(plane_coeffs);
} else if (token == "Plane_y1") {
Eigen::Vector4d plane_coeffs;
for (int i = 0; i < 4; i++) {
ifs >> plane_coeffs[i];
}
plane_y1.fromVector(plane_coeffs);
} else if (token == "Plane_y2") {
Eigen::Vector4d plane_coeffs;
for (int i = 0; i < 4; i++) {
ifs >> plane_coeffs[i];
}
plane_y2.fromVector(plane_coeffs);
} else if (token == "room_node") {
Eigen::Matrix4d room_pose = Eigen::Matrix4d::Identity();
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
ifs >> room_pose(i, j);
}
}
Eigen::Isometry3d room_isometry_pose(room_pose);
node->setEstimate(room_isometry_pose);
}
}
return true;
}
public:
int id;
int prior_id;
g2o::Plane3D plane_x1;
g2o::Plane3D plane_x2;
g2o::Plane3D plane_y1;
g2o::Plane3D plane_y2;
int plane_x1_id;
int plane_x2_id;
int plane_y1_id;
int plane_y2_id;
bool sub_room;
bool matched = false;
visualization_msgs::msg::MarkerArray cluster_array;
g2o::VertexPlane *plane_x1_node = nullptr;
g2o::VertexPlane *plane_x2_node = nullptr;
g2o::VertexPlane *plane_y1_node = nullptr;
g2o::VertexPlane *plane_y2_node = nullptr;
g2o::VertexRoom *node = nullptr; // node instance in covisibility graph
std::map<int, KeyFrame::Ptr> room_keyframes;
std::shared_ptr<GraphSLAM> local_graph;
};
} // namespace s_graphs
#endif // ROOMS_HPP