SFM.h

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#ifndef DW_IMAGEPROCESSING_SFM_SFM_H_
#define DW_IMAGEPROCESSING_SFM_SFM_H_
 
#include <dw/core/base/Config.h>
#include <dw/rig/Rig.h>
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
 
#include <dw/imageprocessing/features/FeatureList.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
{
    dwConstRigHandle_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,
                                    const dwReconstructorConfig* config,
                                    cudaStream_t stream,
                                    dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwReconstructor_reset(dwReconstructorHandle_t obj);
 
// @note This method renders the handle unusable.
DW_API_PUBLIC
dwStatus dwReconstructor_release(dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_enableCamerasForPoseEstimation(uint8_t const enabled[], dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_dryrunEstimation(dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_estimatePoseAsync(const dwTransformation3f* previousRig2World,
                                           const dwTransformation3f* predictedRig2World,
                                           const uint32_t listCount,
                                           const uint32_t* const d_featureCounts[],
                                           const dwFeature2DStatus* const d_statuses[],
                                           const dwVector2f* const d_trackedLocations[],
                                           const dwVector4f* const d_worldPoints[],
                                           dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_getEstimatedPose(dwTransformation3f* correctedRig2World,
                                          dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_updateHistory(int32_t* rig2WorldHistoryIdx,
                                       const dwTransformation3f* rig2World,
                                       const uint32_t listCount,
                                       const uint32_t* const d_featureCounts[],
                                       const dwVector2f* const d_trackedLocations[],
                                       dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_triangulateFeatures(dwVector4f* d_worldPoints,
                                             dwFeature2DStatus* d_statuses,
                                             const uint32_t* d_featureCount,
                                             const uint32_t cameraIdx,
                                             dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_project(dwVector2f* d_locations[],
                                 const dwTransformation3f* rig2World,
                                 const uint32_t* const d_pointCount[],
                                 const dwVector4f* const d_worldPoints[],
                                 dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_predictFeaturePosition(dwVector2f d_predictedLocations[],
                                                uint32_t cameraIdx,
                                                const dwTransformation3f* previousRigToWorld,
                                                const dwTransformation3f* predictedRigToWorld,
                                                const uint32_t* d_featureCount,
                                                const dwFeature2DStatus d_featureStatuses[],
                                                const dwVector2f d_featureLocations[],
                                                const dwVector4f d_worldPoints[],
                                                dwReconstructorHandle_t obj);
 
// @note `d_newToOldMap` must be got by `dwFeature2DTracker_getNewToOldMap`
// @note This method must be called after `dwFeature2DTracker_compact()` or
// `dwFeature2DTracker_process(DW_FEATURE2D_TRACKER_STAGE_COMPACT_GPU_ASYNC)` to keep the
// feature lists synchronized.
DW_API_PUBLIC
dwStatus dwReconstructor_compactFeatureHistory(const uint32_t cameraIdx,
                                               const uint32_t* d_validIndexCount,
                                               const uint32_t* d_newToOldMap,
                                               dwReconstructorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwReconstructor_compactWorldPoints(dwVector4f* d_worldPoints,
                                            const uint32_t* d_validIndexCount,
                                            const uint32_t* d_newToOldMap,
                                            dwReconstructorHandle_t obj);
 
// @note The ownership of the stream remains by the callee.
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_IMAGEPROCESSING_SFM_SFM_H_