PhotogrammetryDense.h

/*--------------------------------------------------------------------------------------------
Copyright (c) 2026, NDEVR LLC
tyler.parke@ndevr.org
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 |   \ |  | | |  \ \ | |___  \ \ / /  |  |__)  |
 |  . \|  | | |__/ / | |___   \ V /   |   _   /
 |  |\    |_|_____/__|_____|___\_/____|  | \  \
 |__| \__________________________________|  \__\
 
Subject to the terms of the Enterprise+ Agreement, NDEVR hereby grants
Licensee a limited, non-exclusive, non-transferable, royalty-free license
(without the right to sublicense) to use the API solely for the purpose of
Licensee's internal development efforts to develop applications for which
the API was provided.
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
 
Library: DronePhotogrammetry
File: PhotogrammetryDense
Included in API: True
Author(s): Tyler Parke
 *-----------------------------------------------------------------------------------------**/
#pragma once
#include "DLLInfo.h"
#include "PhotogrammetryOptions.h"
#include "PhotogrammetryGPSAlign.h"
#include <NDEVR/BaseValues.h>
#include <NDEVR/Buffer.h>
#include <NDEVR/File.h>
#include <NDEVR/Log.h>
#include <NDEVR/String.h>
#include <NDEVR/Vector.h>
#include <NDEVR/Vertex.h>
 
#include <functional>
#include <unordered_map>
#include <array>
 
// Forward declarations
namespace openMVG { namespace sfm { struct SfM_Data; } }
namespace MVS { class Interface; class Scene; }
 
namespace NDEVR
{
    struct PhotogrammetryResult;

    class DRONE_PHOTOGRAMMETRY_API PhotogrammetryDense
    {
    public:
        using ProgressFn = std::function<void(fltp04)>;
        using ResultFn   = std::function<void(PhotogrammetryResult)>;

        static void run(
            const openMVG::sfm::SfM_Data& sfm_data,
            const Buffer<File>& dense_images,
            const Buffer<Vector<2, uint04>>& dense_sizes,
            const GPSAlignmentResult& gps_alignment,
            const std::unordered_map<uint32_t, std::array<double, 3>>& gps_lla,
            const PhotogrammetryOptions& options,
            const File& temp_folder,
            LogPtr log,
            ProgressFn progress_fn,
            ResultFn result_fn,
            const bool& cancel_flag,
            const Buffer<bool>& dense_keyframes = Buffer<bool>());
 
    private:
        struct MVSInterfaceMappings
        {
            std::unordered_map<uint32_t, uint32_t> view_id_to_mvs_idx;
            std::unordered_map<uint32_t, uint32_t> mvs_idx_to_view_id;
            Vector<3, fltp08> sfm_centroid;
        };
        static bool buildMVSInterface(
            MVS::Interface& mvs_interface,
            MVSInterfaceMappings& mappings,
            const openMVG::sfm::SfM_Data& sfm_data,
            const Buffer<File>& dense_images,
            const Buffer<Vector<2, uint04>>& dense_sizes,
            LogPtr log);

        static bool initializeMVSScene(
            MVS::Scene& mvs_scene,
            const MVS::Interface& mvs_interface,
            const File& temp_mvs_file,
            uint04 mvs_image_count,
            LogPtr log);

        static void configureOptDenseParameters(
            const MVS::Interface& mvs_interface,
            const PhotogrammetryOptions& options,
            LogPtr log);

        static bool runCpuDenseReconstruction(
            MVS::Scene& mvs_scene,
            const File& temp_mvs_file,
            LogPtr log);
 
#if defined(VULKAN_COMPUTE_DLL)
        static void runGpuDepthEstimation(
            const MVS::Interface& mvs_interface,
            MVS::Scene& mvs_scene,
            const File& temp_mvs_file,
            LogPtr log,
            ProgressFn progress_fn,
            const bool& cancel_flag,
            DenseReconstructionMode dense_mode,
            const Buffer<bool>& dense_keyframe_mask = Buffer<bool>());

        static void fuseGPUDepthMaps(
            MVS::Scene& mvs_scene,
            const MVS::Interface& mvs_interface,
            const File& temp_mvs_file,
            LogPtr log);
#endif

        static void buildResultWithGPSAlignment(
            PhotogrammetryResult& result,
            const MVS::Scene& mvs_scene,
            const MVS::Interface& mvs_interface,
            const MVSInterfaceMappings& mappings,
            const GPSAlignmentResult& gps_alignment,
            const std::unordered_map<uint32_t, std::array<double, 3>>& gps_lla,
            LogPtr log);

        static void buildResultWithUprightOrientation(
            PhotogrammetryResult& result,
            const MVS::Scene& mvs_scene,
            const MVS::Interface& mvs_interface,
            const openMVG::sfm::SfM_Data& sfm_data,
            LogPtr log);
    };
}