ACDepthTracker6DOF.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_ARCORE_AC_DEPTH_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARCORE_AC_DEPTH_TRACKER_6_DOF_H
 
#include "ocean/devices/arcore/ARCore.h"
#include "ocean/devices/arcore/ACDevice.h"
 
#include "ocean/devices/SceneTracker6DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARCore
{
 
/*
 * This class implements the 6DOF depth tracker.
 * @ingroup devicescore
 */
class OCEAN_DEVICES_ARCORE_EXPORT ACDepthTracker6DOF final :
    virtual public ACDevice,
    virtual public SceneTracker6DOF
{
    friend class ARSessionManager;
    friend class ACFactory;
 
    public:
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameACDepthTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeACDepthTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF scene tracker.
         */
        ACDepthTracker6DOF();
 
        /**
         * Destructs this 6DOF tracker.
         */
        ~ACDepthTracker6DOF() override;
 
        /**
         * Event function for new 6DOF transformations.
         * @param world_T_camera The transformation between camera and world, invalid if unknown/lost
         * @param depth The depth frame, must be valid
         * @param depthCamera The depth camera defining the projection of the depth frame, must be valid
         * @param device_T_depth The transformation between depth image and device, must be valid
         * @param timestamp The timestamp of the new transformation
         */
        void onNewSample(const HomogenousMatrix4& world_T_camera, Frame&& depth, SharedAnyCamera&& depthCamera, const HomogenousMatrix4& device_T_depth, const Timestamp& timestamp);
};
 
inline std::string ACDepthTracker6DOF::deviceNameACDepthTracker6DOF()
{
    return std::string("ARCore 6DOF Depth Tracker");
}
 
inline ACDepthTracker6DOF::DeviceType ACDepthTracker6DOF::deviceTypeACDepthTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL | SCENE_TRACKER_6DOF);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARCORE_AC_DEPTH_TRACKER_6_DOF_H