icp.h

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#ifndef DW_ICP_HPP__
#define DW_ICP_HPP__

#include <dw/core/Types.h>
#include <dw/sensors/lidar/Lidar.h>
#include <math.h>
#include "cuda_runtime.h"

#ifdef __cplusplus
extern "C" {
#endif


typedef struct dwICPHandle *dwICPHandle_t;

typedef enum dwICPType{
    DW_ICP_TYPE_LIDAR_POINT_CLOUD,

} dwICPType;

typedef  struct dwICPParams {

    uint32_t maxPoints;

    dwICPType icpType;

    cudaStream_t stream;

}dwICPParams;

typedef dwBool (*dwICPConvergenceCheck)(const dwTransformation* prevSrc2Tgt, const dwTransformation* newSrc2Tgt, void* userData);

typedef struct dwICPIterationParams {

    const dwLidarPointXYZI *sourcePts;
    const dwLidarPointXYZI *targetPts;

    uint64_t nSourcePts;
    uint64_t nTargetPts;

    const dwTransformation* initialSource2Target;
}dwICPIterationParams ;

typedef struct dwICPResultStats {
    uint32_t actualNumIterations;
    float32_t rmsCost;
    float32_t inlierFraction;
}dwICPResultStats ;

DW_API_PUBLIC
dwStatus dwICP_initialize(dwICPHandle_t *icpObj, const dwICPParams *params, dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwICP_optimize(dwTransformation *outSrc2Tgt, const dwICPIterationParams *iParams, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_reset(dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_setConvergenceCriteriaCallback(dwICPConvergenceCheck callback, void* userData, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_setConvergenceTolerance(float32_t angleTol, float32_t distanceTol, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_setMaxIterations(uint16_t maxIterations, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_getLastResultStats(dwICPResultStats* resultStats, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_setCUDAStream(cudaStream_t stream, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_getCUDAStream(cudaStream_t* stream, dwICPHandle_t icpObj);

DW_API_PUBLIC
dwStatus dwICP_release(dwICPHandle_t *icpObj);

#ifdef __cplusplus
}
#endif

#endif // DW_ICP_HPP