segment_rooms.hpp

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// 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/io/reusex.hpp"
#include "reusex/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;
  int max_iter = -1; // negative = iterate until convergence
 
  // 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 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