planes.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 "../global-params.hpp"
#include <CLI/CLI.hpp>
namespace fs = std::filesystem;

struct SubcommandSegPlanesOptions {
  fs::path cloud_path_in = GlobalParams::cloud;  
  fs::path normals_path_in = GlobalParams::normals;  
 
  fs::path planes_path_out = GlobalParams::planes;  
  fs::path plane_centroids_path_out = GlobalParams::plane_centroids;  
  fs::path plane_normals_path_out = GlobalParams::plane_normals;  
 
  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;  
 
  bool visualize = GlobalParams::visualize;  
};

void setup_subcommand_segment_planes(CLI::App &app);

int run_subcommand_segment_planes(SubcommandSegPlanesOptions const &opt);