planes.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
#include "../global-params.hpp"
#include <CLI/CLI.hpp>
#include <memory>
namespace fs = std::filesystem;

struct SubcommandSegPlanesOptions {
 
  float angle_threshold =
      25.0f; 
  float plane_dist_threshold = 0.07; 
  int minInliers = 1000; 
  // 2 * (1 / 0.02) * (1 / 0.02); // ca 2sqm in 2cm resolution of point cloud
  float radius = 0.5;          
  float interval_0 = 16;       
  float interval_factor = 1.5; 
 
  std::string filter_expr; 
};

void setup_subcommand_create_planes(CLI::App &app,
                                    std::shared_ptr<RuxOptions> global_opt);

int run_subcommand_segment_planes(SubcommandSegPlanesOptions const &opt,
                                  const RuxOptions &global_opt);