segment_rooms.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
#include "reusex/core/logging.hpp"
#include "reusex/core/processing_observer.hpp"
#include "reusex/io/reusex.hpp"
#include "reusex/types.hpp"
#include "reusex/utils/fmt_formatter.hpp"
 
#include <pcl/markov_clustering.hpp>
 
// GraphBLAS imports complex.h which defines a macro named 'I' that conflicts
// with the type in CLI11
#ifdef I
#undef I
#endif
 
#include <fmt/format.h>
 
#include <pcl/common/pca.h>
#include <pcl/correspondence.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/uniform_sampling.h>
#include <pcl/io/auto_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/search/kdtree.h>
 
#include <atomic>
 
namespace ReUseX::geometry {
struct SegmentRoomsRequest {
  CloudConstPtr cloud;
  CloudNConstPtr normals;
  CloudLConstPtr planes;
 
  float grid_size = 0.5F;
  float inflation = 2.0F;
  int expansion = 2;
  float pruning_threshold = 0.0001F;
  float convergence_threshold = 1e-8F;
  int max_iter = 100;
 
  // Optional cancellation flag. Caller retains ownership and must keep this
  // alive for the full duration of the segment_rooms(...) call.
  const std::atomic_bool *cancel_token = nullptr;
};
 
auto segment_rooms_impl(const SegmentRoomsRequest &request) -> CloudLPtr;
auto segment_rooms(const SegmentRoomsRequest &request) -> CloudLPtr;
 
} // namespace ReUseX::geometry