/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2011 Blender Foundation.
 * All rights reserved.
 *
 * Contributor(s): Blender Foundation,
 *                 Sergey Sharybin
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef LIBMV_C_API_H
#define LIBMV_C_API_H

#ifdef __cplusplus
extern "C" {
#endif

struct libmv_RegionTracker;
struct libmv_Tracks;
struct libmv_Reconstruction;
struct libmv_Features;
struct libmv_CameraIntrinsics;

/* Logging */
void libmv_initLogging(const char *argv0);
void libmv_startDebugLogging(void);
void libmv_setLoggingVerbosity(int verbosity);

/* RegionTracker */
struct libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation);
struct libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation);
struct libmv_RegionTracker *libmv_bruteRegionTrackerNew(int half_window_size, double minimum_correlation);
int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
			int width, int height, double  x1, double  y1, double *x2, double *y2);
void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);

/* Tracks */
struct libmv_Tracks *libmv_tracksNew(void);
void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);

/* Reconstruction solver */
#define LIBMV_REFINE_FOCAL_LENGTH	(1<<0)
#define LIBMV_REFINE_PRINCIPAL_POINT	(1<<1)
#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1<<2)
#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1<<4)

typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);

int libmv_refineParametersAreValid(int parameters);

struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
			int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			reconstruct_progress_update_cb progress_update_callback, void *callback_customdata);
int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);

/* feature detector */
struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
			int margin, int min_trackness, int min_distance);
struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
			int margin, int count, int min_distance);
int libmv_countFeatures(struct libmv_Features *libmv_features);
void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
void libmv_destroyFeatures(struct libmv_Features *libmv_features);

/* camera intrinsics */
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);

struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
			double k1, double k2, double k3, int width, int height);

struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);

void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);

void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
			double principal_x, double principal_y, double k1, double k2, double k3, int width, int height);

void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
			double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);

void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
			unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);

void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
			float *src, float *dst, int width, int height, float overscan, int channels);

void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
			unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);

void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
			float *src, float *dst, int width, int height, float overscan, int channels);

/* dsitortion */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			unsigned char *src, unsigned char *dst, int width, int height, int channels);
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			float *src, float *dst, int width, int height, int channels);

void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			unsigned char *src, unsigned char *dst, int width, int height, int channels);
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			float *src, float *dst, int width, int height, int channels);

/* utils */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			double x, double y, double *x1, double *y1);
void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
			double x, double y, double *x1, double *y1);

#ifdef __cplusplus
}
#endif

#endif // LIBMV_C_API_H