frame_visibility.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include <Eigen/Core>
 
#include <atomic>
#include <stdexcept>
#include <vector>
 
namespace reusex {
class ProjectDB;
}
 
namespace reusex::core {

struct FrameVisibility {
  int frame_id = 0; 
  double u = 0.0;   
  double v = 0.0;   
  double depth =
      0.0; 
  double centrality = 0.0;
};

struct VisibilityQuery {
  double max_depth = 0.0;
  double margin_px = 0.0;
};

std::vector<FrameVisibility> visible_frames(const ProjectDB &db,
                                            const Eigen::Vector3d &world_point,
                                            const VisibilityQuery &query = {});

std::vector<std::vector<FrameVisibility>>
visible_frames_batch(const ProjectDB &db,
                     const std::vector<Eigen::Vector3d> &world_points,
                     const VisibilityQuery &query = {});

struct OcclusionQuery {
  VisibilityQuery visibility{};
  double depth_tolerance = 0.15;
  int depth_search_radius = 1;
  bool keep_frames_without_depth = true;
};

struct VisibilityProbe {
  Eigen::Vector3d anchor = Eigen::Vector3d::Zero();
  std::vector<Eigen::Vector3d> samples;
};

class OperationCancelled : public std::runtime_error {
    public:
  using std::runtime_error::runtime_error;
};

std::vector<std::vector<FrameVisibility>>
visible_frames_occluded(const ProjectDB &db,
                        const std::vector<VisibilityProbe> &probes,
                        const OcclusionQuery &query = {},
                        const std::atomic<bool> *cancel = nullptr);
 
} // namespace reusex::core