PointCloudICP.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDICP_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDICP_H_
#include <dw/core/context/Context.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPointCloudICPObject* dwPointCloudICPHandle_t;

typedef enum dwPointCloudICPType {
    DW_POINT_CLOUD_ICP_TYPE_DEPTH_MAP

} dwPointCloudICPType;

typedef struct dwPointCloudICPParams
{
    dwPointCloudICPType icpType;

    uint32_t maxPoints;

    dwVector2ui depthmapSize;

    float32_t angleConvergenceTol;

    float32_t distanceConvergenceTol;

    uint16_t maxIterations;

    bool usePriors;
} dwPointCloudICPParams;

typedef bool (*dwPointCloudICPConvergenceCheck)(const dwTransformation3f* prevSrc2Tgt, const dwTransformation3f* newSrc2Tgt, void* userData);

typedef struct dwPointCloudICPResultStats
{
    uint16_t actualNumIterations;
    float32_t rmsCost;
    float32_t inlierFraction;
    uint32_t numCorrespondences;

} dwPointCloudICPResultStats;

DW_API_PUBLIC
dwStatus dwPointCloudICP_initialize(dwPointCloudICPHandle_t* obj,
                                    const dwPointCloudICPParams* params,
                                    dwContextHandle_t ctx);
DW_API_PUBLIC
dwStatus dwPointCloudICP_reset(dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_release(dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_getDefaultParams(dwPointCloudICPParams* params);

DW_API_PUBLIC
dwStatus dwPointCloudICP_getCUDAStream(cudaStream_t* stream,
                                       dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_setCUDAStream(const cudaStream_t stream,
                                       dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_bindInput(const dwPointCloud* sourcePCD,
                                   const dwPointCloud* targetPCD,
                                   const dwTransformation3f* sourceToTarget,
                                   dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_bindOutput(dwTransformation3f* pose,
                                    dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_process(dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_setConvergenceCriteriaCallback(dwPointCloudICPConvergenceCheck callback, void* userData, dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_setConvergenceTolerance(float32_t angleTol, float32_t distanceTol, dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_setMaxIterations(uint16_t maxIterations, dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_getLastResultStats(dwPointCloudICPResultStats* resultStats, dwPointCloudICPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudICP_getMaximumDepthMapSize(uint32_t* maxDepthMapSize);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDICP_H_