reconcile_instances.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include "reusex/types/point_types.hpp"
 
#include <cstdint>
#include <functional>
#include <map>
#include <string>
#include <vector>
 
namespace reusex::geometry {

struct ReconciledInstance {
  uint32_t instance_id = 0;
  int semantic_class = -1;
  int point_count = 0;
  std::string guid;
  bool carried_over = false;
  uint32_t matched_old_id = 0; 
};

struct OrphanedInstance {
  uint32_t instance_id = 0;
  int semantic_class = -1;
  std::string guid;
  double best_overlap = 0.0; 
};

struct ReconcileResult {
  std::vector<ReconciledInstance> instances;
  std::vector<OrphanedInstance> orphaned_old; 
  size_t matched_count = 0;
  size_t fresh_count = 0;
};

struct PriorInstance {
  uint32_t instance_id = 0;
  int semantic_class = -1;
  std::string guid;
};

struct ReconcileOptions {
  double min_overlap = 0.5;
  unsigned int seed = 42;
};

ReconcileResult
reconcile_instance_identities(const CloudL *old_labels,
                              const CloudL &new_labels,
                              const std::vector<PriorInstance> &prior,
                              const std::map<uint32_t, uint32_t> &new_semantic,
                              const std::map<uint32_t, size_t> &new_sizes,
                              const std::function<std::string()> &make_guid,
                              const ReconcileOptions &opts = {});
 
} // namespace reusex::geometry