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

struct CameraData {
  cv::Mat image;                     
  core::SensorIntrinsics intrinsics; 
  Eigen::Matrix4d pose;              
};

struct TextureQualityParams {
  float texels_per_meter = 400.0f; 
  int min_resolution = 256;        
  int max_resolution = 4096;       
  int atlas_tile_size =
      2048; 
  float distance_threshold = 0.02f; 
  float search_radius = 0.04f;      
  int max_neighbors = 100;          
  bool use_quadratic_falloff =
      true; 
};
 
pcl::TextureMesh::Ptr texture_mesh_with_cloud(
    pcl::PolygonMesh::Ptr mesh, CloudConstPtr cloud,
    CloudNConstPtr normals = nullptr, bool debug_distinct_colors = false,
    const TextureQualityParams &quality = TextureQualityParams());

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