PointCloudPlaneExtractor.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDPLANEEXTRACTOR_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDPLANEEXTRACTOR_H_

#include <dw/core/base/Types.h>
#include <dw/core/context/Context.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPointCloudPlaneExtractorObject* dwPointCloudPlaneExtractorHandle_t;

typedef struct
{
    uint32_t maxPointCount;      
    dwOrientedBoundingBox3f box; 
} dwPlaneExtractorBoxFilterParams;

typedef struct
{
    uint32_t maxInputPointCount;                     
    uint32_t ransacIterationCount;                   
    uint32_t optimizerIterationCount;                
    float32_t minInlierFraction;                     
    float32_t maxInlierDistance;                     
    dwMatrix3f rotation;                             
    bool cudaPipelineEnabled;                        
    dwPlaneExtractorBoxFilterParams boxFilterParams; 
} dwPointCloudPlaneExtractorParams;

typedef struct
{
    dwTransformation3f transformation; 
    dwVector3f normal;                 
    float32_t offset;                  
    bool valid;                        
} dwPointCloudExtractedPlane;

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_initialize(dwPointCloudPlaneExtractorHandle_t* obj,
                                               const dwPointCloudPlaneExtractorParams* params,
                                               dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_reset(dwPointCloudPlaneExtractorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_release(dwPointCloudPlaneExtractorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_getDefaultParameters(dwPointCloudPlaneExtractorParams* params);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_bindInput(const dwPointCloud* pointCloud,
                                              dwPointCloudPlaneExtractorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_getCUDAStream(cudaStream_t* stream,
                                                  dwPointCloudPlaneExtractorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_setCUDAStream(const cudaStream_t stream,
                                                  dwPointCloudPlaneExtractorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_bindOutput(dwPointCloud* inliers,
                                               dwPointCloud* outliers,
                                               dwPointCloudExtractedPlane* outputPlane,
                                               dwPointCloudPlaneExtractorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudPlaneExtractor_process(dwPointCloudPlaneExtractorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDPLANEEXTRACTOR_H_