text: #ifndef DENSE_RECONSTRUCTION_STEREO_DENSE_RECONSTRUCTION_H_
  #define DENSE_RECONSTRUCTION_STEREO_DENSE_RECONSTRUCTION_H_
  
  #include <aslam/cameras/camera.h>
  #include <map-resources/resource-common.h>
  #include <vi-map/unique-id.h>
  #include <vi-map/vi-map.h>
  
  namespace dense_reconstruction {
  
  void computeDepthForAllStereoCameras(
      const backend::ResourceType& depth_resource_type, vi_map::VIMap* vi_map);
  
  // With no mission selected, it will process all missions.
  void computeDepthForAllStereoCameras(
      const backend::ResourceType& depth_resource_type,
      const vi_map::MissionIdList& selected_mission_ids, vi_map::VIMap* vi_map);
  
  void computeDepthForStereoCamerasOfMission(
      const aslam::CameraId& first_camera_id,
      const aslam::CameraId& second_camera_id,
      const aslam::Transformation& T_C2_C1, const vi_map::MissionId& mission_id,
      const backend::ResourceType& depth_resource_type, vi_map::VIMap* vi_map);
  
  }  // namespace dense_reconstruction
  
  #endif  // DENSE_RECONSTRUCTION_STEREO_DENSE_RECONSTRUCTION_H_
  