downsample.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include "reusex/types.hpp"
 
#include <cstdint>
#include <vector>
 
namespace reusex::geometry {

struct VoxelAssignment {
  float leaf_size = 0.0f;

  uint32_t bucket_count = 0;

  double origin_x = 0.0;
  double origin_y = 0.0;
  double origin_z = 0.0;

  std::vector<uint32_t> point_to_bucket;

  static constexpr uint32_t kSkippedPoint =
      static_cast<uint32_t>(-1);
};

VoxelAssignment voxel_assignment(const Cloud &cloud, float leaf_size);

CloudPtr downsample(const Cloud &cloud, const VoxelAssignment &a);

CloudNPtr downsample(const CloudN &cloud, const VoxelAssignment &a);
 
} // namespace reusex::geometry