texture_mesh.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 "reusex/core/SensorIntrinsics.hpp"
 
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/DBDriver.h>
#include <opencv2/core/mat.hpp>
 
#include <map>
 
namespace reusex::geometry {

struct CameraData {
  cv::Mat image;  
  core::SensorIntrinsics intrinsics;  
  Eigen::Matrix4d pose;  
};
 
pcl::TextureMesh::Ptr texture_mesh_with_cloud(pcl::PolygonMesh::Ptr mesh,
                                              CloudConstPtr cloud);

pcl::TextureMesh::Ptr
texture_mesh(pcl::PolygonMesh::Ptr mesh,
             std::map<int, rtabmap::Transform> const &poses,
             std::map<int, rtabmap::Signature> const &nodes);

pcl::TextureMesh::Ptr
texture_mesh(pcl::PolygonMesh::Ptr mesh,
             std::map<int, CameraData> const &cameras);
} // namespace reusex::geometry