mesh.hpp

Go to the documentation of this file.

// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
#include "reusex/types.hpp"
 
#include <pcl/PolygonMesh.h>
#include <pcl/common/common.h>
 
#include <memory>
 
// Forward declaration to avoid dependency on visualization library
namespace ReUseX::visualize {
class Visualizer;
}
 
namespace ReUseX::geometry {

struct MeshOptions {
  float search_threshold = 10.0f; 
  float new_plane_offset = 0.05f; 
};

pcl::PolygonMeshPtr
mesh(CloudConstPtr cloud, CloudNConstPtr normals,
     EigenVectorContainer<double, 4> &planes,
     EigenVectorContainer<double, 3> &centroids,
     std::vector<IndicesPtr> &inliers, CloudLConstPtr rooms,
     MeshOptions const opt = MeshOptions{},
     std::shared_ptr<ReUseX::visualize::Visualizer> viewer = nullptr);
} // namespace ReUseX::geometry