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#pragma once
#include "survive.h"
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef struct {
bool enable[2];
bool invert[2];
bool swap;
} survive_calibration_options_config;
typedef struct survive_calibration_config {
survive_calibration_options_config phase, tilt, curve, gibMag, gibPhase;
bool gibUseSin;
} survive_calibration_config;
void survive_calibration_options_config_apply(const survive_calibration_options_config *option, const FLT *input,
FLT *output);
const survive_calibration_config *survive_calibration_default_config(const SurviveContext *ctx);
size_t survive_calibration_config_max_idx();
survive_calibration_config survive_calibration_config_create_from_idx(size_t v);
size_t survive_calibration_config_index(const survive_calibration_config *config);
void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, FLT *out);
void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, const SurvivePose *pose, FLT *point3d,
FLT *out);
// This is given a lighthouse -- in the same system as stored in BaseStationData, and
// a 3d point and finds what the effective 'angle' value for a given lighthouse syste
// would be.
// While this is typically opposite of what we want to do -- we want to find the 3d
// position from a 2D coordinate, this is helpful since the minimization of reprojection
// error is a core mechanism to many types of solvers.
void survive_reproject_from_pose_with_config(const SurviveContext *ctx, const survive_calibration_config *config,
int lighthouse, const SurvivePose *pose, const FLT *point3d, FLT *out);
void survive_reproject_from_pose_with_bsd(const BaseStationData *bsd, const survive_calibration_config *config,
const SurvivePose *pose, const FLT *point3d, FLT *out);
void survive_reproject_with_config(const SurviveContext *ctx, const survive_calibration_config *config, int lighthouse,
const FLT *point3d, FLT *out);
void survive_calibration_config_fprint(FILE *file, const survive_calibration_config *config);
void survive_apply_bsd_calibration_by_flag(SurviveContext *ctx, int lh, enum SurviveCalFlag f, const FLT *in, FLT *out);
void survive_apply_bsd_calibration(SurviveContext *ctx, int lh, const FLT *in, FLT *out);
#ifdef __cplusplus
}
#endif
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