cgal_utils.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Surface_mesh.h>
#include <Eigen/Core>
#include <pcl/PolygonMesh.h>
 
namespace reusex::geometry::cgal {

using K = CGAL::Simple_cartesian<double>;

using Point_3 = K::Point_3;

using Vector_3 = K::Vector_3;

using Mesh = CGAL::Surface_mesh<Point_3>;

Mesh pcl_to_cgal_mesh(const pcl::PolygonMesh &pcl_mesh);

pcl::PolygonMesh cgal_to_pcl_mesh(const Mesh &cgal_mesh);

inline Point_3 eigen_to_cgal(const Eigen::Vector3d &v) {
  return Point_3(v.x(), v.y(), v.z());
}

inline Eigen::Vector3d cgal_to_eigen(const Point_3 &p) {
  return Eigen::Vector3d(CGAL::to_double(p.x()), CGAL::to_double(p.y()),
                         CGAL::to_double(p.z()));
}

inline Eigen::Vector3d cgal_to_eigen(const Vector_3 &v) {
  return Eigen::Vector3d(CGAL::to_double(v.x()), CGAL::to_double(v.y()),
                         CGAL::to_double(v.z()));
}

std::vector<pcl::PolygonMeshPtr> decompose_mesh(const pcl::PolygonMesh &mesh);
 
} // namespace reusex::geometry::cgal