segment_instances.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include "reusex/types.hpp"
#include <atomic>
#include <map>
#include <set>
 
namespace reusex::geometry {

struct SegmentInstancesRequest {
  CloudConstPtr cloud;

  CloudLConstPtr semantic_labels;

  float cluster_tolerance = 0.5F;

  int min_cluster_size = 50;

  int max_cluster_size = 1000000;

  std::set<uint32_t> labels_to_process;

  const std::atomic_bool *cancel_token = nullptr;
};

struct SegmentInstancesResult {
  CloudLPtr instance_labels;

  std::map<uint32_t, uint32_t> instance_to_semantic;

  std::map<uint32_t, size_t> instance_sizes;
};

auto segment_instances(const SegmentInstancesRequest &request)
    -> SegmentInstancesResult;

auto segment_instances_impl(const SegmentInstancesRequest &request)
    -> SegmentInstancesResult;
 
} // namespace reusex::geometry