Classes
class	CellComplex
struct	MeshOptions
	Options for mesh generation. More...
class	Registry
class	SceneGraph
class	Solidifier
	Solidifier solves room segmentation using Mixed Integer Programming. More...

Typedefs
template<typename Scalar>
using	Plane = Eigen::Matrix<Scalar, 4, 1>
template<typename Scalar>
using	PlaneVector

Functions
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{}, std::shared_ptr< ReUseX::visualize::Visualizer > viewer=nullptr)
	Generate a mesh from point cloud and geometric primitives.
template<typename Scalar, typename PointT>
auto	regularizePlanes (PlaneVector< Scalar > &planes, typename pcl::PointCloud< PointT >::ConstPtr points, std::vector< pcl::IndicesPtr > &inliers, double angle_threshold=25.0, double distance_threshold=0.01)
auto	segment_planes_impl (CloudConstPtr cloud, CloudNConstPtr normals, const float angle_threshold, const float plane_dist_threshold, const int min_inliers, const float radius, const float interval_0, const float interval_factor, const bool visualize) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >
	BOOST_PARAMETER_FUNCTION ((std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >), segment_planes, tag,(required(cloud,(CloudConstPtr))(normals,(CloudNConstPtr)))(optional(angle_threshold,(float), 25.0)(plane_dist_threshold,(float), 0.07)(min_inliers,(int), 1000)(radius,(float), 0.5)(interval_0,(int), 16)(interval_factor,(float), 1.5)(visualize,(bool), false)))
auto	segment_rooms_impl (CloudConstPtr cloud, CloudNConstPtr normals, CloudLConstPtr planes, const float grid_size, const float inflation, const float expansion, const float pruning_threshold, const float convergence_threshold, const int max_iter, const bool visualize) -> CloudLPtr
	BOOST_PARAMETER_FUNCTION ((CloudLPtr), segment_rooms, tag,(required(cloud,(CloudConstPtr))(normals,(CloudNConstPtr))(planes,(CloudLConstPtr)))(optional(grid_size,(double), 0.5)(inflation,(double), 2.0)(expansion,(int), 2)(pruning_threshold,(double), 0.0001)(convergence_threshold,(double), 1e-8)(max_iter,(int), 100)(visualize,(bool), false)))
pcl::TextureMesh::Ptr	texture_mesh_with_cloud (pcl::PolygonMesh::Ptr mesh, CloudConstPtr cloud)
pcl::TextureMesh::Ptr	texture_mesh (pcl::PolygonMesh::Ptr mesh, std::map< int, rtabmap::Transform > const &poses, std::map< int, rtabmap::Signature > const &nodes)
auto	dist_plane_point (const Eigen::Vector4d &plane, const Eigen::Vector3d &point) -> double
	Calculate distance from a point to a plane.
auto	make_pairs (EigenVectorContainer< double, 4 > &planes, std::vector< IndicesPtr > &inliers, EigenVectorContainer< double, 3 > &centroids, const double threshold=0.6, const double new_plane_offset=0.5) -> std::vector< std::pair< size_t, size_t > >
	Create pairs of opposite parallel planes.
auto	force_orthogonal_planes (EigenVectorContainer< double, 4 > &planes, const double threshold=0.1, const Eigen::Matrix< double, 3, 1 > &up=Eigen::Matrix< double, 3, 1 >(0, 0, 1)) -> EigenVectorContainer< double, 4 >
	Force planes to be orthogonal to a reference direction.
auto	compute_number_of_inliers (CloudConstPtr cloud, Eigen::Vector4d const &plane, IndicesConstPtr indices, const float threshold=0.2) -> size_t
	Count number of inliers for a plane.
auto	merge_planes (EigenVectorContainer< double, 4 > const &planes_, std::vector< IndicesPtr > const &inliers_, EigenVectorContainer< double, 3 > const &centroids_, CloudConstPtr cloud, const double angle_threshold=0.1, const double distance_threshold=0.5, const double min_overlap=0.8) -> std::tuple< EigenVectorContainer< double, 4 >, std::vector< IndicesPtr >, EigenVectorContainer< double, 3 > >
	Merge similar planes based on angle, distance, and overlap.
auto	separate_planes (const EigenVectorContainer< double, 4 > &planes, const Eigen::Vector3d &up=Eigen::Vector3d(0, 0, 1), const double epsilon=0.1) -> std::tuple< std::vector< size_t >, std::vector< size_t > >
	Separate planes into horizontal and vertical based on up vector.
template<typename CloudPtr>
auto	compute_polygon_normal (const pcl::Vertices &poly, const CloudPtr &cloud) -> Eigen::Vector3f
	Compute the normal vector of a polygon.

Typedef Documentation

◆ Plane

template<typename Scalar>

using ReUseX::geometry::Plane = Eigen::Matrix<Scalar, 4, 1>

Definition at line 74 of file regularization.hpp.

◆ PlaneVector

template<typename Scalar>

using ReUseX::geometry::PlaneVector

Initial value:

std::vector<Plane<Scalar>, Eigen::aligned_allocator<Plane<Scalar>>>

Definition at line 77 of file regularization.hpp.

Function Documentation

◆ BOOST_PARAMETER_FUNCTION() [1/2]

ReUseX::geometry::BOOST_PARAMETER_FUNCTION	(	(CloudLPtr)	,
		segment_rooms	,
		tag	,
		(required(cloud,(CloudConstPtr))(normals,(CloudNConstPtr))(planes,(CloudLConstPtr)))(optional(grid_size,(double), 0.5)(inflation,(double), 2.0)(expansion,(int), 2)(pruning_threshold,(double), 0.0001)(convergence_threshold,(double), 1e-8)(max_iter,(int), 100)(visualize,(bool), false))	)

Definition at line 59 of file segment_rooms.hpp.

References BOOST_PARAMETER_FUNCTION(), and segment_rooms_impl().

◆ BOOST_PARAMETER_FUNCTION() [2/2]

ReUseX::geometry::BOOST_PARAMETER_FUNCTION	(	(std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >)	,
		segment_planes	,
		tag	,
		(required(cloud,(CloudConstPtr))(normals,(CloudNConstPtr)))(optional(angle_threshold,(float), 25.0)(plane_dist_threshold,(float), 0.07)(min_inliers,(int), 1000)(radius,(float), 0.5)(interval_0,(int), 16)(interval_factor,(float), 1.5)(visualize,(bool), false))	)

Definition at line 52 of file segment_planes.hpp.

References BOOST_PARAMETER_FUNCTION(), and segment_planes_impl().

Referenced by BOOST_PARAMETER_FUNCTION(), and BOOST_PARAMETER_FUNCTION().

◆ compute_number_of_inliers()

auto ReUseX::geometry::compute_number_of_inliers	(	CloudConstPtr	cloud,
		Eigen::Vector4d const &	plane,
		IndicesConstPtr	indices,
		const float	threshold = 0.2 ) -> size_t

Count number of inliers for a plane.

Parameters

cloud	Input point cloud.
plane	Plane coefficients.
indices	Point indices to check.
threshold	Distance threshold for inliers. Default 0.2.

Returns: Number of inliers.

◆ compute_polygon_normal()

template<typename CloudPtr>

auto ReUseX::geometry::compute_polygon_normal	(	const pcl::Vertices &	poly,
		const CloudPtr &	cloud ) -> Eigen::Vector3f

Compute the normal vector of a polygon.

Calculates the normal vector of a polygon using the cross product sum method (also known as Newell's method). The normal is automatically normalized.

Template Parameters

CloudPtr Point cloud pointer type (const or non-const, e.g., CloudLocConstPtr).

Parameters

poly	Polygon with vertex indices.
cloud	Point cloud containing the vertices (read-only).

Returns: Normalized normal vector of the polygon.

Exceptions

std::invalid_argument	if polygon has fewer than 3 vertices.
std::runtime_error	if polygon is degenerate (zero normal magnitude).

Definition at line 128 of file utils.hpp.

◆ dist_plane_point()

auto ReUseX::geometry::dist_plane_point	(	const Eigen::Vector4d &	plane,
		const Eigen::Vector3d &	point ) -> double

Calculate distance from a point to a plane.

Parameters

plane	Plane coefficients (nx, ny, nz, d) where n is the normal.
point	3D point coordinates.

Returns: Signed distance from point to plane.

◆ force_orthogonal_planes()

auto ReUseX::geometry::force_orthogonal_planes	(	EigenVectorContainer< double, 4 > &	planes,
		const double	threshold = 0.1,
		const Eigen::Matrix< double, 3, 1 > &	up = Eigen::Matrix< double, 3, 1 >(0, 0, 1) ) -> EigenVectorContainer< double, 4 >

Force planes to be orthogonal to a reference direction.

Adjusts plane normals to be either parallel or perpendicular to the up vector.

Parameters

planes	Plane coefficients to adjust.
threshold	Angular threshold for orthogonality. Default 0.1.
up	Reference up vector. Default (0, 0, 1).

Returns: Adjusted plane coefficients.

◆ make_pairs()

auto ReUseX::geometry::make_pairs	(	EigenVectorContainer< double, 4 > &	planes,
		std::vector< IndicesPtr > &	inliers,
		EigenVectorContainer< double, 3 > &	centroids,
		const double	threshold = 0.6,
		const double	new_plane_offset = 0.5 ) -> std::vector< std::pair< size_t, size_t > >

Create pairs of opposite parallel planes.

Finds pairs of planes with opposite normals within a distance threshold. Creates new planes for unpaired planes.

Parameters

planes	Plane coefficients.
inliers	Indices of points belonging to each plane.
centroids	Plane centroids.
threshold	Maximum distance threshold for pairing. Default 0.6.
new_plane_offset	Offset for creating new planes. Default 0.5.

Returns: Vector of plane index pairs.

◆ merge_planes()

auto ReUseX::geometry::merge_planes	(	EigenVectorContainer< double, 4 > const &	planes_,
		std::vector< IndicesPtr > const &	inliers_,
		EigenVectorContainer< double, 3 > const &	centroids_,
		CloudConstPtr	cloud,
		const double	angle_threshold = 0.1,
		const double	distance_threshold = 0.5,
		const double	min_overlap = 0.8 ) -> std::tuple< EigenVectorContainer< double, 4 >, std::vector< IndicesPtr >, EigenVectorContainer< double, 3 > >

Merge similar planes based on angle, distance, and overlap.

Parameters

planes_	Input plane coefficients.
inliers_	Inliers for each plane.
centroids_	Plane centroids.
cloud	Point cloud.
angle_threshold	Angular similarity threshold. Default 0.1.
distance_threshold	Distance threshold for merging. Default 0.5.
min_overlap	Minimum overlap ratio for merging. Default 0.8.

Returns: Tuple of (merged planes, merged inliers, merged centroids).

◆ mesh()

pcl::PolygonMeshPtr ReUseX::geometry::mesh	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		EigenVectorContainer< double, 4 > &	planes,
		EigenVectorContainer< double, 3 > &	centroids,
		std::vector< IndicesPtr > &	inliers,
		CloudLConstPtr	rooms,
		MeshOptions const	opt = MeshOptions{},
		std::shared_ptr< ReUseX::visualize::Visualizer >	viewer = nullptr )

Generate a mesh from point cloud and geometric primitives.

Parameters

cloud	Input point cloud.
normals	Point cloud normals.
planes	Detected plane coefficients.
centroids	Plane centroids.
inliers	Indices of points belonging to each plane.
rooms	Room labels for points.
opt	Mesh generation options.
viewer	Optional visualizer for debugging.

Returns: Generated polygon mesh.

Referenced by texture_mesh(), and texture_mesh_with_cloud().

◆ regularizePlanes()

template<typename Scalar, typename PointT>

auto ReUseX::geometry::regularizePlanes	(	PlaneVector< Scalar > &	planes,
		typename pcl::PointCloud< PointT >::ConstPtr	points,
		std::vector< pcl::IndicesPtr > &	inliers,
		double	angle_threshold = 25.0,
		double	distance_threshold = 0.01 )

Definition at line 81 of file regularization.hpp.

◆ segment_planes_impl()

auto ReUseX::geometry::segment_planes_impl	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		const float	angle_threshold,
		const float	plane_dist_threshold,
		const int	min_inliers,
		const float	radius,
		const float	interval_0,
		const float	interval_factor,
		const bool	visualize ) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >

Referenced by BOOST_PARAMETER_FUNCTION().

◆ segment_rooms_impl()

auto ReUseX::geometry::segment_rooms_impl	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		CloudLConstPtr	planes,
		const float	grid_size,
		const float	inflation,
		const float	expansion,
		const float	pruning_threshold,
		const float	convergence_threshold,
		const int	max_iter,
		const bool	visualize ) -> CloudLPtr

Referenced by BOOST_PARAMETER_FUNCTION().

◆ separate_planes()

auto ReUseX::geometry::separate_planes	(	const EigenVectorContainer< double, 4 > &	planes,
		const Eigen::Vector3d &	up = Eigen::Vector3d(0, 0, 1),
		const double	epsilon = 0.1 ) -> std::tuple< std::vector< size_t >, std::vector< size_t > >

Separate planes into horizontal and vertical based on up vector.

Parameters

planes	Plane coefficients.
up	Reference up vector. Default (0, 0, 1).
epsilon	Angular epsilon for classification. Default 0.1.

Returns: Tuple of (horizontal indices, vertical indices).

◆ texture_mesh()

pcl::TextureMesh::Ptr ReUseX::geometry::texture_mesh	(	pcl::PolygonMesh::Ptr	mesh,
		std::map< int, rtabmap::Transform > const &	poses,
		std::map< int, rtabmap::Signature > const &	nodes )

References mesh().

◆ texture_mesh_with_cloud()

pcl::TextureMesh::Ptr ReUseX::geometry::texture_mesh_with_cloud	(	pcl::PolygonMesh::Ptr	mesh,
		CloudConstPtr	cloud )

References mesh().

Classes

Typedefs

Functions

Typedef Documentation

◆ Plane

◆ PlaneVector

Function Documentation

◆ BOOST_PARAMETER_FUNCTION() [1/2]

◆ BOOST_PARAMETER_FUNCTION() [2/2]

◆ compute_number_of_inliers()

◆ compute_polygon_normal()

◆ dist_plane_point()

◆ force_orthogonal_planes()

◆ make_pairs()

◆ merge_planes()

◆ mesh()

◆ regularizePlanes()

◆ segment_planes_impl()

◆ segment_rooms_impl()

◆ separate_planes()

◆ texture_mesh()

◆ texture_mesh_with_cloud()