Features.h

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#ifndef DW_FEATURES_FEATURES_H__
#define DW_FEATURES_FEATURES_H__

#include <dw/core/Config.h>
#include <dw/core/Exports.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/image/Image.h>

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwFeatureListObject *dwFeatureListHandle_t;

typedef struct dwFeatureListObject const *dwConstFeatureListHandle_t;

typedef struct dwFeatureTrackerObject *dwFeatureTrackerHandle_t;

typedef struct dwFeatureTrackerObject const *dwConstFeaturesTrackerHandle_t;

typedef struct dwPyramidObject *dwPyramidHandle_t;

typedef struct dwPyramidObject const *dwConstPyramidHandle_t;

typedef enum dwFeatureStatus {
    DW_FEATURE_STATUS_INVALID = 0,

    DW_FEATURE_STATUS_DETECTED,

    DW_FEATURE_STATUS_TRACKED,

    DW_FEATURE_STATUS_TYPE_COUNT
} dwFeatureStatus;

typedef struct dwFeatureListPointers {
    dwFeatureStatus *statuses;      
    uint32_t *ages;                 
    dwVector2f *locationHistory;    
    uint32_t *featureCount;         
} dwFeatureListPointers;


// dwFeatureList

DW_API_PUBLIC
dwStatus dwFeatureList_initialize(dwFeatureListHandle_t *obj, dwContextHandle_t context, cudaStream_t stream,
                                  const uint32_t maxFeatureCount, const uint32_t historyCapacity,
                                  const uint32_t imageWidth, uint32_t imageHeight);

DW_API_PUBLIC
dwStatus dwFeatureList_reset(dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_release(dwFeatureListHandle_t *obj);

DW_API_PUBLIC
dwStatus dwFeatureList_getDataBasePointer(void **d_basePointer, size_t *size, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_getDataPointers(dwFeatureListPointers *pointers, void *basePointer, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_getCurrentTimeIdx(uint32_t *currentTimeIdx, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_setCurrentTimeIdx(uint32_t currentTimeIdx, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_getFeatureListSize(uint32_t *maxFeatureCount, uint32_t *historyCapacity, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_selectValid(uint32_t *d_validIndexCount, uint32_t *d_validIndexes,
                                   uint32_t *d_invalidIndexCount, uint32_t *d_invalidIndexes,
                                   dwConstFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_compact(dwFeatureListHandle_t featureList,
                               const uint32_t *d_validIndexCount, const uint32_t *d_validIndexes,
                               const uint32_t *d_invalidIndexCount, const uint32_t *d_invalidIndexes);

DW_API_PUBLIC
dwStatus dwFeatureList_proximityFilter(dwFeatureListHandle_t list);

DW_API_PUBLIC
dwStatus dwFeatureList_setCUDAStream(cudaStream_t stream, dwFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureList_getCUDAStream(cudaStream_t *stream, dwFeatureListHandle_t obj);


// dwPyramid

typedef struct dwPyramidConfig {
    uint32_t width;

    uint32_t height;

    uint32_t levelCount;

    dwTrivialDataType dataType;
} dwPyramidConfig;

DW_API_PUBLIC
dwStatus dwPyramid_initialize(dwPyramidHandle_t *obj, dwContextHandle_t context, cudaStream_t stream,
                              const dwPyramidConfig config);

DW_API_PUBLIC
dwStatus dwPyramid_reset(dwPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_release(dwPyramidHandle_t *obj);

DW_API_PUBLIC
dwStatus dwPyramid_build(const dwImageCUDA *image, dwPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_getLevelCount(uint32_t *levelCount, dwConstPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_getLevelSize(uint32_t *width, uint32_t *height,
                                const uint32_t level, dwConstPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_getLevelData(uint8_t **d_data, size_t *strideBytes, const uint32_t level,
                                dwPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_getLevelImageCUDA(const dwImageCUDA **img, const uint32_t level,
                                     dwConstPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_setCUDAStream(cudaStream_t stream, dwPyramidHandle_t obj);

DW_API_PUBLIC
dwStatus dwPyramid_getCUDAStream(cudaStream_t *stream, dwConstPyramidHandle_t obj);

// dwFeaturesTracker

typedef struct dwFeatureTrackerConfig {
    /* Width of the images that the tracker runs on. */
    uint32_t imageWidth;

    /* Height of the images that the tracker runs on. */
    uint32_t imageHeight;

    uint32_t windowSizeLK;

    uint32_t interationsLK;

    uint32_t maxFeatureCount;

    float32_t detectorScoreThreshold;
} dwFeatureTrackerConfig;

DW_API_PUBLIC
dwStatus dwFeatureTracker_initialize(dwFeatureTrackerHandle_t *obj, dwContextHandle_t context,
                                     cudaStream_t stream, const dwFeatureTrackerConfig config);

DW_API_PUBLIC
dwStatus dwFeatureTracker_reset(dwFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_release(dwFeatureTrackerHandle_t *obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_setMask(const uint8_t *d_mask,
                                  const uint32_t maskStrideBytes,
                                  const uint32_t maskWidth, const uint32_t maskHeight,
                                  dwFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_detectNewFeatures(dwFeatureListHandle_t list,
                                            dwConstPyramidHandle_t pyramid,
                                            dwFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_trackFeatures(dwFeatureListHandle_t list,
                                        dwConstPyramidHandle_t previousPyramid,
                                        dwConstPyramidHandle_t currentPyramid,
                                        const float32_t *d_predictedPositions,
                                        dwFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_setCUDAStream(cudaStream_t stream, dwFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeatureTracker_getCUDAStream(cudaStream_t *stream, dwFeatureTrackerHandle_t obj);


#ifdef __cplusplus
}
#endif

#endif // DW_FEATURES_FEATURES_H__