surfel_extraction.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include "reusex/segmentation/Surfel.hpp"
 
#include <optional>
 
namespace reusex {
class ProjectDB;
}
 
namespace reusex::geometry {

struct SurfelExtractionParams {
  float min_distance = 0.0f;    
  float max_distance = 4.0f;    
  int sampling_factor = 8;      
  int confidence_threshold = 2; 
  float normal_radius = 0.1f;   
  float voxel_size = 0.03f; 
  bool apply_depth_filters = true;
};

std::optional<FrameSurfels>
extract_frame_surfels(ProjectDB &db, int node_id,
                      const SurfelExtractionParams &params);
 
} // namespace reusex::geometry