Method create_new_plane

src/PLPSLAM/planar_mapping_module.cc:347–410

    }

    bool Planar_Mapping_module::create_new_plane(eigen_alloc_unord_map<long, data::Plane *> &colorToPlanes)
    {
        if (_setVerbose)
        {
            spdlog::info("-- PlanarMapping -- trying to create plane");
        }

        auto before = std::chrono::high_resolution_clock::now();

        bool hasNewPlanes = false;
        for (auto &color_plane_pair : colorToPlanes)
        {
            if (color_plane_pair.second->get_num_landmarks() < MIN_NUMBER_POINTS_BEFORE_RANSAC) // 12
            {
                delete color_plane_pair.second;
                color_plane_pair.second = nullptr;
                continue;
            }

            // Conditional ternary operator
            if (_use_graph_cut
                    ? estimate_plane_sequential_Graph_cut_RANSAC(color_plane_pair.second)
                    : estimate_plane_sequential_RANSAC(color_plane_pair.second))
            {
                hasNewPlanes = true;
                color_plane_pair.second->set_valid(); // set valid, but plane need to be refined

                if (_setVerbose)
                {
                    double a, b, c, d;
                    color_plane_pair.second->get_equation(a, b, c, d);
                    spdlog::info("\t \t | new plane detected: ({}, {}, {}, {})", a, b, c, d);
                }

                // save to map database
                _map_db->add_landmark_plane(color_plane_pair.second);
            }
            else
            {
                color_plane_pair.second->remove_landmarks_ownership();

                // delete pointer first, then set as null
                delete color_plane_pair.second;
                color_plane_pair.second = nullptr;

                if (_setVerbose)
                {
                    spdlog::info("\t \t | estimate plane through RANSAC failed");
                }
            }
        }

        colorToPlanes.clear();

        auto after = std::chrono::high_resolution_clock::now();
        auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(after - before).count();

        if (_setVerbose)