from __future__ import annotations

from collections.abc import Sequence
from typing import TYPE_CHECKING

from ._core import (
    Camera,
    CameraModel,
    TriangulationConfig,
    TriangulationOptions,
    CoreProposalDebug,
    FullProposalDebug,
    GroupingDebug,
    MergeDebug,
    PairCandidate,
    PreviousPoseFilterDebug,
    PreviousPoseMatch,
    ProposalGroupDebug,
    TriangulationTrace,
    build_pair_candidates,
    filter_pairs_with_previous_poses,
    make_camera,
    triangulate_debug,
    triangulate_poses,
)

if TYPE_CHECKING:
    import numpy as np
    import numpy.typing as npt

    from ._helpers import CameraLike, PoseViewLike


def convert_cameras(cameras: "Sequence[CameraLike]") -> list[Camera]:
    from ._helpers import convert_cameras as _convert_cameras

    return _convert_cameras(cameras)


def pack_poses_2d(
    views: "Sequence[PoseViewLike]", *, joint_count: int | None = None
) -> "tuple[npt.NDArray[np.float32], npt.NDArray[np.uint32]]":
    from ._helpers import pack_poses_2d as _pack_poses_2d

    return _pack_poses_2d(views, joint_count=joint_count)


def make_triangulation_config(
    cameras: "Sequence[CameraLike]",
    roomparams: "npt.NDArray[np.generic] | Sequence[Sequence[float]]",
    joint_names: "Sequence[str]",
    *,
    min_match_score: float = 0.95,
    min_group_size: int = 1,
) -> TriangulationConfig:
    from ._helpers import make_triangulation_config as _make_triangulation_config

    return _make_triangulation_config(
        cameras,
        roomparams,
        joint_names,
        min_match_score=min_match_score,
        min_group_size=min_group_size,
    )


__all__ = [
    "Camera",
    "CameraModel",
    "TriangulationConfig",
    "TriangulationOptions",
    "CoreProposalDebug",
    "FullProposalDebug",
    "GroupingDebug",
    "MergeDebug",
    "PairCandidate",
    "PreviousPoseFilterDebug",
    "PreviousPoseMatch",
    "ProposalGroupDebug",
    "TriangulationTrace",
    "build_pair_candidates",
    "convert_cameras",
    "filter_pairs_with_previous_poses",
    "make_camera",
    "make_triangulation_config",
    "pack_poses_2d",
    "triangulate_debug",
    "triangulate_poses",
]