from collections.abc import Sequence
from typing import TypeAlias, overload

import numpy as np
import numpy.typing as npt

from ._core import (
    AssociationReport,
    AssociationStatus,
    Camera,
    CameraModel,
    CoreProposalDebug,
    FinalPoseAssociationDebug,
    FullProposalDebug,
    GroupingDebug,
    MergeDebug,
    PairCandidate,
    PreviousPoseFilterDebug,
    PreviousPoseMatch,
    ProposalGroupDebug,
    TriangulationConfig,
    TriangulationOptions,
    TriangulationResult,
    TriangulationTrace,
)
from ._helpers import CameraLike, CameraModelLike, Matrix3x3Like, PoseViewLike, RoomParamsLike, VectorLike

PoseArray2D: TypeAlias = npt.NDArray[np.float32]
PoseArray3D: TypeAlias = npt.NDArray[np.float32]
PersonCountArray: TypeAlias = npt.NDArray[np.uint32]
TrackIdArray: TypeAlias = npt.NDArray[np.int64]


def convert_cameras(cameras: Sequence[CameraLike]) -> list[Camera]: ...


def make_camera(
    name: str,
    K: Matrix3x3Like,
    DC: VectorLike,
    R: Matrix3x3Like,
    T: Sequence[Sequence[float]],
    width: int,
    height: int,
    model: CameraModel | CameraModelLike,
) -> Camera: ...


def build_pair_candidates(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
) -> list[PairCandidate]: ...


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


def make_triangulation_config(
    cameras: Sequence[CameraLike],
    roomparams: RoomParamsLike,
    joint_names: Sequence[str],
    *,
    min_match_score: float = 0.95,
    min_group_size: int = 1,
) -> TriangulationConfig: ...


def filter_pairs_with_previous_poses(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
    config: TriangulationConfig,
    previous_poses_3d: PoseArray3D,
    previous_track_ids: TrackIdArray,
) -> PreviousPoseFilterDebug: ...


@overload
def triangulate_debug(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
    config: TriangulationConfig,
) -> TriangulationTrace: ...


@overload
def triangulate_debug(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
    config: TriangulationConfig,
    previous_poses_3d: PoseArray3D,
    previous_track_ids: TrackIdArray,
) -> TriangulationTrace: ...


def triangulate_poses(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
    config: TriangulationConfig,
) -> PoseArray3D: ...


def triangulate_with_report(
    poses_2d: PoseArray2D,
    person_counts: PersonCountArray,
    config: TriangulationConfig,
    previous_poses_3d: PoseArray3D,
    previous_track_ids: TrackIdArray,
) -> TriangulationResult: ...


__all__: list[str]