/*
 * Copyright 2019 Nicolas Pope
 */

#ifndef _FTL_CUDA_ALGORITHMS_HPP_
#define _FTL_CUDA_ALGORITHMS_HPP_

#include <ftl/cuda_common.hpp>
#include <ftl/rgbd/camera.hpp>

namespace ftl {
namespace cuda {

	/**
	 * Disparity consistency algorithm.
	 */
	void consistency(const TextureObject<float> &dl, const TextureObject<float> &dr,
			TextureObject<float> &disp);

	/**
	 * Calculate the sparse census 16x16 of two stereo images.
	 */	
	void sparse_census(const TextureObject<uchar4> &l, const TextureObject<uchar4> &r,
			TextureObject<uint2> &cl, TextureObject<uint2> &cr);

	/**
	 * Filter a disparity image by a texture complexity threshold.
	 */
	void texture_filter(const TextureObject<uchar4> &t, const TextureObject<float> &d,
			TextureObject<float> &f, int num_disp, double thresh);

	/**
	 * Obtain a texture map from a colour image.
	 */	
	void texture_map(const TextureObject<uchar4> &t,
			TextureObject<float> &f);

	void disparity_to_depth(const cv::cuda::GpuMat &disparity, cv::cuda::GpuMat &depth,
				const ftl::rgbd::Camera &c, cv::cuda::Stream &stream);


}
}

#endif // _FTL_CUDA_ALGORITHMS_HPP_