CalibrationEngine.h

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#ifndef DW_CALIBRATION_CALIBRATIONENGINE_H__
#define DW_CALIBRATION_CALIBRATIONENGINE_H__

#include <dw/core/Context.h>
#include <dw/rigconfiguration/RigConfiguration.h>
#include <dw/egomotion/Egomotion.h>
#include <dw/lanes/LaneDetector.h>

#include "camera/CameraParams.h"

#ifdef __cplusplus
extern "C" {
#endif

#define DW_CALIBRATION_MAXSENSORS 5

typedef struct dwCalibrationEngineObject *dwCalibrationEngineHandle_t;

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initialize(dwCalibrationEngineHandle_t *engine,
                                        dwRigConfigurationHandle_t rigConfigHandle,
                                        dwContextHandle_t context);


DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeCamera(uint32_t sensorIndex,
                                              const dwCalibrationCameraParams * params,
                                              dwEgomotionHandle_t egoMotion,
                                              dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_reset(dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_release(dwCalibrationEngineHandle_t *engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_startCalibration(uint32_t sensorIndex, dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_stopCalibration(uint32_t sensorIndex, dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_resetCalibration(uint32_t sensorIndex, dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getNumberOfSensors(uint32_t *count, dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getCalibrationStatus(dwCalibrationStatus *status, uint32_t sensorIndex,
                                                  dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getPercentageComplete(float32_t *percentage, uint32_t sensorIndex,
                                                   dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getSensorToRigTransformation(dwTransformation *sensorToRig, uint32_t sensorIndex,
                                                          dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addLaneDetections(const dwLaneDetection *lanes, dwTime_t timestamp,
                                               uint32_t sensorIndex, dwCalibrationEngineHandle_t engine);

#ifdef __cplusplus
}
#endif

#endif // DW_CALIBRATION_CALIBRATIONENGINE_H__