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/reconstruction/Solidifier.hpp"
#include "reusex/types.hpp"
 
#include <pcl/PolygonMesh.h>
#include <pcl/common/common.h>
 
#include <memory>
 
namespace reusex::geometry {

struct MeshOptions {
  // Defaults reconciled with the CLI in issue #217. The `rux create mesh` CLI
  // shipped with the tuned production values 0.60 / 0.25 (its footer examples
  // and workflow assume them); the old library defaults 10.0 / 0.05 were never
  // exercised through the CLI. Per docs/STANDARDS.md §4 the library is the
  // single source of truth, so the better CLI values were promoted here.
  float search_threshold = 0.60f;   
  float new_plane_offset = 0.25f;   
  IndicesConstPtr filter = nullptr; 

  double time_limit_seconds = 120.0;

  double alpha = 0.04;

  size_t max_cells = 5000;

  bool sectioned = true;

  size_t sectioned_threshold = 2000;

  SolverChoice solver = SolverChoice::automatic;
};

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{});
} // namespace reusex::geometry