SFM.h

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#ifndef DW_SFM_SFM_H__
#define DW_SFM_SFM_H__

#include <dw/core/Config.h>
#include <dw/features/Features.h>
#include <dw/rigconfiguration/RigConfiguration.h>
#include <dw/rigconfiguration/Camera.h>
#include <dw/core/Exports.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>

#include <dw/features/Features.h>

#include <cuda_runtime_api.h>

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

// dwReconstructor

typedef struct dwReconstructorObject *dwReconstructorHandle_t;

typedef struct dwReconstructorObject const *dwConstReconstructorHandle_t;

typedef struct dwReconstructorConfig {
    dwConstCameraRigHandle_t rig;

    uint32_t maxFeatureCount;

    uint32_t maxPoseHistoryLength;

    float32_t minNewObservationAngleRad;

    float32_t minRigDistance;

    uint8_t minTriangulationEntries;

    float32_t maxReprojectionErrorAngleRad;

    float32_t poseEstimationOutlierThresholdRad;
} dwReconstructorConfig;

DW_API_PUBLIC
dwStatus dwReconstructor_initConfig(dwReconstructorConfig *config);

DW_API_PUBLIC
dwStatus dwReconstructor_initialize(dwReconstructorHandle_t *obj, dwContextHandle_t context,
                                    cudaStream_t stream,
                                    const dwReconstructorConfig config);

DW_API_PUBLIC
dwStatus dwReconstructor_reset(dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_release(dwReconstructorHandle_t *obj);


DW_API_PUBLIC
dwStatus dwReconstructor_enableCamerasForPoseEstimation(const uint8_t enabled[], dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_estimatePose(dwTransformation *d_correctedRig2World,
                                     const dwTransformation *d_previousRig2World,
                                     const dwTransformation *d_predictedRig2World,
                                     const uint32_t listCount,
                                     const uint32_t * const d_featureCounts[],
                                     const dwFeatureStatus * const d_statuses[],
                                     const float32_t * const d_trackedLocations[],
                                     const float32_t * const d_worldPoints[],
                                     dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_updateHistory(int32_t *rig2WorldHistoryIdx,
                                      const dwTransformation *rig2World,
                                      const uint32_t listCount,
                                      const uint32_t *const d_featureCounts[],
                                      const float32_t *const d_trackedLocations[],
                                      dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_triangulateFeatures(float32_t *d_worldPoints,
                                             dwFeatureStatus *d_statuses,
                                             const uint32_t *d_featureCount,
                                             const uint32_t cameraIdx,
                                             dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_project(float32_t *d_locations[],
                                 const dwTransformation *rig2World,
                                 const uint32_t *const d_pointCount[],
                                 const float32_t *const d_worldPoints[],
                                 dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_predictFeaturePosition(float32_t d_predictedLocations[],
                                      uint32_t cameraIdx,
                                      const dwTransformation *previousRigToWorld,
                                      const dwTransformation *predictedRigToWorld,
                                      const uint32_t *d_featureCount,
                                      const dwFeatureStatus d_featureStatuses[],
                                      const float32_t d_featureLocations[],
                                      const float32_t d_worldPoints[],
                                      dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_compactFeatureHistory(const uint32_t cameraIdx,
                                               const uint32_t *d_validIndexCount, const uint32_t *d_validIndexes,
                                               const uint32_t *d_invalidIndexCount, const uint32_t *d_invalidIndexes,
                                               dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_compactWorldPoints(float32_t * d_worldPoints,
                                            const uint32_t *d_validIndexCount, const uint32_t *d_validIndexes,
                                            const uint32_t *d_invalidIndexCount, const uint32_t *d_invalidIndexes,
                                            dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_setCUDAStream(cudaStream_t stream, dwReconstructorHandle_t obj);

DW_API_PUBLIC
dwStatus dwReconstructor_getCUDAStream(cudaStream_t *stream, dwReconstructorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_SFM_SFM_H__