segment_rooms.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 "reusex/core/logging.hpp"
#include "reusex/core/processing_observer.hpp"
#include "reusex/types/point_types.hpp"
#include "reusex/utils/fmt_formatter.hpp"
 
#include <pcl/community_clustering.hpp>
 
#include <fmt/format.h>
 
#include <pcl/common/pca.h>
#include <pcl/correspondence.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/uniform_sampling.h>
#include <pcl/io/auto_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/search/kdtree.h>
 
#include <atomic>
 
namespace reusex::geometry {
struct SegmentRoomsOptions {
  IndicesConstPtr filter = nullptr; // Optional filter to limit processing
 
  float grid_size = 0.5F;
  float resolution = 1.0F;
  float beta = 0.01F;
  // Finite Leiden iteration bound. STANDARDS §5 forbids unbounded loops in
  // long-running stages; the previous -1 ("until convergence") could spin
  // indefinitely on pathological graphs. 100 iterations is well past the
  // point where Leiden modularity plateaus for room-scale graphs.
  int max_iter = 100;
 
  // --- Label propagation to non-sampled points (distance-bounded k-NN) ---
  // Room clustering runs on a uniformly sampled subset; the remaining points
  // inherit a room label from their sampled neighbours. A distance-bounded
  // k-NN majority vote replaces the old unchecked 1-NN so that a single
  // misclassified seed cannot smear across a whole region, and points with no
  // labelled neighbour inside the radius stay kUnlabeled (0) instead of
  // silently copying a far-away label.
  int propagate_k = 5;               
  float propagate_max_radius = 0.5F; 
 
  // Optional cancellation flag. Caller retains ownership and must keep this
  // alive for the full duration of the segment_rooms(...) call.
  const std::atomic_bool *cancel_token = nullptr;
};

auto propagate_room_labels(CloudConstPtr cloud, CloudLPtr labels,
                           IndicesConstPtr sampled_indices,
                           IndicesConstPtr missing_indices, int k,
                           float max_radius) -> size_t;
 
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;
 
} // namespace reusex::geometry