PhotogrammetryRunner.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: PhotogrammetryRunner
Included in API: True
Author(s): Tyler Parke
 *-----------------------------------------------------------------------------------------**/
#pragma once
#include "DLLInfo.h"
#include "PhotogrammetryOptions.h"
#include <NDEVR/BaseValues.h>
#include <NDEVR/Buffer.h>
#include <NDEVR/File.h>
#include <NDEVR/Log.h>
#include <NDEVR/String.h>
#include <NDEVR/Vertex.h>
 
#include <array>
#include <functional>
#include <unordered_map>
 
// Forward declarations
namespace openMVG { namespace sfm { struct SfM_Data; } }
 
namespace NDEVR
{
    enum class PhotogrammetryStage : uint01
    {
          e_listing_images       
        , e_extracting_features  
        , e_matching_features    
        , e_sfm                  
        , e_dense_reconstruction 
        , e_building_scene       
        , e_done                 
        , e_cancelled            
        , e_failed               
    };

    struct PhotogrammetryPointColor
    {
        uint01 r = 0;
        uint01 g = 0;
        uint01 b = 0;
    };

    struct PhotogrammetryResult
    {
        Buffer<Vertex<3, fltp08>>        point_positions;   
        Buffer<PhotogrammetryPointColor> point_colors;      
        Buffer<Vertex<3, fltp08>>        sparse_positions;  
        Buffer<Matrix<fltp08>>           camera_transforms; 
        Buffer<String>                   camera_image_names;
        Buffer<Vertex<3, fltp08>>        camera_gps_lla;    
    };

    class DRONE_PHOTOGRAMMETRY_API PhotogrammetryRunner
    {
    public:
        explicit PhotogrammetryRunner(const PhotogrammetryOptions& options, LogPtr log);

        void setProgressCallback(std::function<void(PhotogrammetryStage stage, fltp04 fraction)> callback);

        void setResultCallback(std::function<void(PhotogrammetryResult)> callback);

        void cancel();

        void run();

        PhotogrammetryStage lastStage() const { return m_last_stage; }
 
    private:
        Buffer<File> listImages() const;
        Buffer<File> prepareWorkingImages(const Buffer<File>& originals);
        Buffer<File> prepareDenseImages(const Buffer<File>& originals, const Buffer<File>& feature_images);
        void reportProgress(PhotogrammetryStage stage, fltp04 fraction);

        Buffer<bool> selectDenseKeyframes(
            const openMVG::sfm::SfM_Data& sfm_data,
            const std::unordered_map<uint32_t, std::array<double, 3>>& gps_lla) const;
 
        PhotogrammetryOptions                            m_options;
        LogPtr                                           m_log;
        std::function<void(PhotogrammetryStage, fltp04)> m_progress_callback;
        std::function<void(PhotogrammetryResult)>        m_result_callback;
        PhotogrammetryStage                              m_last_stage = PhotogrammetryStage::e_listing_images;
        bool                                             m_cancel_requested = false;
 
        File m_temp_folder;
        File m_dense_temp_folder;
        Buffer<fltp08> m_image_scales;
        Buffer<Vector<2, uint04>> m_working_sizes;
        Buffer<fltp08> m_dense_scales;
        Buffer<Vector<2, uint04>> m_dense_sizes;
    };
}