create_windows.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/geometry/BuildingComponent.hpp"
#include "reusex/types.hpp"
 
#include <Eigen/Core>
#include <pcl/PolygonMesh.h>
 
#include <cstdint>
#include <functional>
#include <map>
#include <string>
#include <vector>
 
namespace reusex::geometry {

struct WallCandidate {
  Eigen::Vector4d plane;    
  Eigen::Vector3d centroid; 
  Eigen::Vector3d normal;   

  std::vector<std::vector<Eigen::Vector3d>> boundary_loops;
 
  std::vector<int> face_indices; 
};

enum class WindowBoundaryMode { rectangle, polyline };

inline constexpr float kWallVerticalityGateOff = 1.0f;

struct CreateWindowsOptions {
  WindowBoundaryMode mode = WindowBoundaryMode::rectangle;
  float wall_offset = 0.5f; 
  float alpha = 0.5f;       
  float wall_normal_z_threshold = kWallVerticalityGateOff;
  float coplanarity_angle_deg =
      10.0f; 
  bool include_internal =
      false; 
};

struct CreateWindowsResult {
  std::vector<BuildingComponent> components;
  std::vector<int> unmatched_instances; 
};

std::vector<WallCandidate>
extract_wall_candidates(const pcl::PolygonMesh &mesh,
                        float normal_z_threshold = kWallVerticalityGateOff,
                        float coplanarity_angle_deg = 10.0f);

using ResolveInstanceGuidFn = std::function<std::string(uint32_t)>;

CreateWindowsResult
create_windows(CloudConstPtr cloud, CloudLConstPtr instance_labels,
               const std::map<uint32_t, uint32_t> &instance_to_semantic,
               const pcl::PolygonMesh &mesh,
               const std::vector<uint32_t> &window_semantic_labels,
               const CreateWindowsOptions &options = {},
               const ResolveInstanceGuidFn &resolve_instance_guid = {});
 
} // namespace reusex::geometry