Namespaces
namespace	cgal

Classes
struct	WindowData
struct	DoorData
struct	WallData
struct	BuildingComponent
	A detected or manual building component (window, door, wall, ...). More...
struct	CellVertexData
struct	FaceData
struct	CellData
struct	VertexProperties
struct	CellEdgeData
class	CellComplex
struct	CoplanarPolygon
	A closed 3D polygon whose vertices are coplanar. More...
struct	WallCandidate
	A connected component of approximately-vertical, coplanar mesh faces. More...
struct	CreateWindowsOptions
	Configuration for the create_windows pipeline. More...
struct	CreateWindowsResult
	Output of create_windows(). More...
struct	MeshOptions
	Options for mesh generation. More...
struct	ReconstructionParams
	Parameters for point cloud reconstruction from stored sensor frames. More...
class	Registry
struct	PointCluster
struct	ScenePlane
struct	SceneObject
struct	SceneVertexData
struct	SceneEdgeData
class	SceneGraph
struct	SegmentInstancesRequest
	Request structure for instance segmentation via Euclidean clustering. More...
struct	SegmentInstancesResult
	Result structure for instance segmentation. More...
struct	SegmentPlanesOptions
struct	SegmentRoomsOptions
class	Solidifier
	Solidifier solves room segmentation using Mixed Integer Programming. More...
struct	CameraData
	Camera data for texture mapping. More...

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

Enumerations
enum class	ComponentType { window , door , wall }
	Discriminator for building component types. More...
enum class	CellNodeType { cell , face , vertex }
enum class	WindowBoundaryMode { rectangle , polyline }
	How to compute the window boundary polygon. More...
enum class	SceneNodeType { point_cluster , plane , object }

Functions
std::string_view	to_string (ComponentType type)
ComponentType	component_type_from_string (std::string_view str)
std::string	component_data_to_json (const BuildingComponent &c)
	Serialize the type-specific variant data to JSON TEXT.
void	component_data_from_json (BuildingComponent &c, const std::string &json)
	Deserialize JSON TEXT into the variant data on a BuildingComponent.
std::vector< WallCandidate >	extract_wall_candidates (const pcl::PolygonMesh &mesh, float normal_z_threshold=0.3f, float coplanarity_angle_deg=10.0f)
	Extract planar vertical wall candidates from a triangle mesh.
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={})
	Create window BuildingComponents from instance-labeled points and wall geometry.
void	apply_depth_discontinuity_filter (cv::Mat &depth, cv::Mat &confidence, float gradient_threshold=0.5f)
	Remove "flying pixels" at depth discontinuity edges.
void	apply_ray_consistency_filter (cv::Mat &depth, cv::Mat &confidence, float consistency_threshold=0.2f)
	Remove isolated noisy depth measurements.
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{})
	Generate a mesh from point cloud and geometric primitives.
void	reconstruct_point_clouds (ProjectDB &db, const ReconstructionParams &params)
	Generate merged point clouds from sensor frames stored in a ProjectDB.
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_instances (const SegmentInstancesRequest &request) -> SegmentInstancesResult
	Segment point cloud into instances using Euclidean clustering.
auto	segment_instances_impl (const SegmentInstancesRequest &request) -> SegmentInstancesResult
	Implementation function for segment_instances.
auto	segment_planes_impl (CloudConstPtr cloud, CloudNConstPtr normals, const SegmentPlanesOptions &options) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >
auto	segment_planes (CloudConstPtr cloud, CloudNConstPtr normals, const SegmentPlanesOptions &options=SegmentPlanesOptions{}) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >
auto	segment_rooms_impl (CloudConstPtr cloud, CloudNConstPtr normals, CloudLConstPtr planes, const SegmentRoomsOptions &options) -> CloudLPtr
auto	segment_rooms (CloudConstPtr cloud, CloudNConstPtr normals, CloudLConstPtr planes, const SegmentRoomsOptions &options=SegmentRoomsOptions{}) -> CloudLPtr
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)
	Texture mesh using RTABMap signatures (legacy API).
pcl::TextureMesh::Ptr	texture_mesh (pcl::PolygonMesh::Ptr mesh, std::map< int, CameraData > const &cameras)
	Texture mesh using simple camera data (ProjectDB API).
pcl::PolygonMeshPtr	unweld_mesh (const pcl::PolygonMesh &mesh, float threshold_radians)
	Unweld (split) mesh vertices along sharp edges.
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 70 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 73 of file regularization.hpp.

Enumeration Type Documentation

◆ CellNodeType

enum class reusex::geometry::CellNodeType

strong

Enumerator
cell
face
vertex

Definition at line 28 of file CellComplex.hpp.

◆ ComponentType

enum class reusex::geometry::ComponentType

strong

Discriminator for building component types.

Enumerator
window
door
wall

Definition at line 17 of file BuildingComponent.hpp.

◆ SceneNodeType

enum class reusex::geometry::SceneNodeType

strong

Enumerator
point_cluster
plane
object

Definition at line 31 of file SceneGraph.hpp.

◆ WindowBoundaryMode

enum class reusex::geometry::WindowBoundaryMode

strong

How to compute the window boundary polygon.

Enumerator
rectangle
polyline

Definition at line 34 of file create_windows.hpp.

Function Documentation

◆ apply_depth_discontinuity_filter()

void reusex::geometry::apply_depth_discontinuity_filter	(	cv::Mat &	depth,
		cv::Mat &	confidence,
		float	gradient_threshold = 0.5f )

Remove "flying pixels" at depth discontinuity edges.

Computes depth gradients via Sobel operators and zeros out pixels with gradient magnitudes exceeding gradient_threshold.

Parameters

depth	Input/output depth map (single-channel), modified in-place.
confidence	Input/output confidence map, modified in-place (may be empty).
gradient_threshold	Maximum allowed gradient in meters per pixel.

◆ apply_ray_consistency_filter()

void reusex::geometry::apply_ray_consistency_filter	(	cv::Mat &	depth,
		cv::Mat &	confidence,
		float	consistency_threshold = 0.2f )

Remove isolated noisy depth measurements.

Compares each pixel to the median of its 5x5 neighbourhood and zeros out pixels deviating by more than consistency_threshold.

Parameters

depth	Input/output depth map (single-channel), modified in-place.
confidence	Input/output confidence map, modified in-place (may be empty).
consistency_threshold	Maximum allowed deviation from neighbourhood median in meters.

◆ component_data_from_json()

void reusex::geometry::component_data_from_json	(	BuildingComponent &	c,
		const std::string &	json )

Deserialize JSON TEXT into the variant data on a BuildingComponent.

◆ component_data_to_json()

std::string reusex::geometry::component_data_to_json ( const BuildingComponent & c )

Serialize the type-specific variant data to JSON TEXT.

◆ component_type_from_string()

ComponentType reusex::geometry::component_type_from_string ( std::string_view str )

◆ 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 129 of file utils.hpp.

◆ create_windows()

CreateWindowsResult reusex::geometry::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 = {} )

Create window BuildingComponents from instance-labeled points and wall geometry.

For each window instance, projects its points onto the nearest wall plane, computes a boundary polygon (AABB or concave hull), and offsets it along the outward wall normal. Performs validation to filter out windows that intersect the mesh, are out of bounds, or are internal (optional).

References mesh().

◆ 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.

◆ extract_wall_candidates()

std::vector< WallCandidate > reusex::geometry::extract_wall_candidates	(	const pcl::PolygonMesh &	mesh,
		float	normal_z_threshold = 0.3f,
		float	coplanarity_angle_deg = 10.0f )

Extract planar vertical wall candidates from a triangle mesh.

Decomposes the mesh into connected components of approximately-vertical, coplanar faces. Each component becomes a WallCandidate with a fitted plane, centroid, outward normal, and boundary vertices.

References mesh().

◆ 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{} )

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 (includes optional filter).

Returns: Generated polygon mesh.

Referenced by create_windows(), reusex::geometry::cgal::decompose_mesh(), extract_wall_candidates(), texture_mesh(), texture_mesh(), texture_mesh_with_cloud(), and unweld_mesh().

◆ reconstruct_point_clouds()

void reusex::geometry::reconstruct_point_clouds	(	ProjectDB &	db,
		const ReconstructionParams &	params )

Generate merged point clouds from sensor frames stored in a ProjectDB.

For each sensor frame the function reads depth, confidence, color, pose, and intrinsics; applies depth filters; performs custom pinhole back-projection; estimates normals; and accumulates into a single cloud. Post-processing includes voxelisation, NaN removal, label majority voting, statistical outlier removal, and radius outlier removal.

Results are saved into the ProjectDB as "cloud", "normals", and "labels".

Parameters

db	Project database (read/write).
params	Reconstruction parameters.

◆ 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 77 of file regularization.hpp.

References reusex::trace().

◆ segment_instances()

auto reusex::geometry::segment_instances ( const SegmentInstancesRequest & request ) -> SegmentInstancesResult

Segment point cloud into instances using Euclidean clustering.

Applies PCL's Euclidean clustering algorithm within each semantic class to separate spatially-disconnected regions into distinct instances.

Algorithm:

Extract unique semantic labels (skip label 0)
For each semantic class (parallelized with OpenMP):
- Build KdTree with points from that class
- Apply pcl::extractEuclideanClusters
- Assign sequential instance IDs
Store metadata (instance → semantic mapping, sizes)

Parameters

request Configuration and input data

Returns: Result containing instance labels and metadata

Exceptions

std::invalid_argument	if inputs are invalid
std::runtime_error	if cancellation requested

◆ segment_instances_impl()

auto reusex::geometry::segment_instances_impl ( const SegmentInstancesRequest & request ) -> SegmentInstancesResult

Implementation function for segment_instances.

Separated for future enhancements (e.g., different clustering algorithms)

◆ segment_planes()

auto reusex::geometry::segment_planes	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		const SegmentPlanesOptions &	options = SegmentPlanesOptions{} ) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >

◆ segment_planes_impl()

auto reusex::geometry::segment_planes_impl	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		const SegmentPlanesOptions &	options ) -> std::tuple< CloudLPtr, CloudLocPtr, CloudNPtr >

◆ segment_rooms()

auto reusex::geometry::segment_rooms	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		CloudLConstPtr	planes,
		const SegmentRoomsOptions &	options = SegmentRoomsOptions{} ) -> CloudLPtr

◆ segment_rooms_impl()

auto reusex::geometry::segment_rooms_impl	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals,
		CloudLConstPtr	planes,
		const SegmentRoomsOptions &	options ) -> CloudLPtr

◆ 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() [1/2]

pcl::TextureMesh::Ptr reusex::geometry::texture_mesh	(	pcl::PolygonMesh::Ptr	mesh,
		std::map< int, CameraData > const &	cameras )

Texture mesh using simple camera data (ProjectDB API).

References mesh().

◆ texture_mesh() [2/2]

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 )

Texture mesh using RTABMap signatures (legacy API).

References mesh().

◆ texture_mesh_with_cloud()

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

References mesh().

◆ to_string()

std::string_view reusex::geometry::to_string ( ComponentType type )

◆ unweld_mesh()

pcl::PolygonMeshPtr reusex::geometry::unweld_mesh	(	const pcl::PolygonMesh &	mesh,
		float	threshold_radians )

Unweld (split) mesh vertices along sharp edges.

Vertices shared by faces whose normals differ by more than threshold_radians are duplicated so each smooth face group gets its own copy. This produces correct per-face normals for export to formats like OBJ, Speckle, or Rhino.

Parameters

mesh	Input polygon mesh (const ref, not modified).
threshold_radians	Maximum dihedral angle (in radians) between face normals for vertices to remain shared. 0 = fully unweld, pi = preserve all sharing.

Returns: New polygon mesh with split vertices.

References mesh().

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ Plane

◆ PlaneVector

Enumeration Type Documentation

◆ CellNodeType

◆ ComponentType

◆ SceneNodeType

◆ WindowBoundaryMode

Function Documentation

◆ apply_depth_discontinuity_filter()

◆ apply_ray_consistency_filter()

◆ component_data_from_json()

◆ component_data_to_json()

◆ component_type_from_string()

◆ compute_number_of_inliers()

◆ compute_polygon_normal()

◆ create_windows()

◆ dist_plane_point()

◆ extract_wall_candidates()

◆ force_orthogonal_planes()

◆ make_pairs()

◆ merge_planes()

◆ mesh()

◆ reconstruct_point_clouds()

◆ regularizePlanes()

◆ segment_instances()

◆ segment_instances_impl()

◆ segment_planes()

◆ segment_planes_impl()

◆ segment_rooms()

◆ segment_rooms_impl()

◆ separate_planes()

◆ texture_mesh() [1/2]

◆ texture_mesh() [2/2]

◆ texture_mesh_with_cloud()

◆ to_string()

◆ unweld_mesh()