AKDepthTracker6DOF.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_ARKIT_AK_DEPTH_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARKIT_AK_DEPTH_TRACKER_6_DOF_H
 
#include "ocean/devices/arkit/ARKit.h"
#include "ocean/devices/arkit/AKDevice.h"
 
#include "ocean/devices/SceneTracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARKit
{
 
/**
 * This class implements the 6DOF tracker also delivering depth images.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKDepthTracker6DOF :
    virtual public AKDevice,
    virtual public SceneTracker6DOF,
    virtual public VisualTracker
{
    friend class AKFactory;
 
    public:
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Pauses the device.
         * @see Device::pause().
         */
        bool pause() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Sets the multi-view visual input of this tracker.
         * @see VisualTracker::setInput().
         */
        void setInput(Media::FrameMediumRefs&& frameMediums) override;
 
        /**
         * Returns whether a specific object is currently actively tracked by this tracker.
         * @see Tracker::isObjectTracked().
         */
        bool isObjectTracked(const ObjectId& objectId) const override;
 
        /**
         * Event function for a new 6DOF pose.
         * @param world_T_camera The transformation between camera and world, invalid if unknown/lost
         * @param timestamp The timestamp of the new transformation
         * @param camera The camera profile defining the projection of the depth information, can have a different resolution, must be valid
         * @param device_T_depth The transformation between depth image and device, must be valid
         * @param arFrame The current ARFRame object containing additional data for the sample, must be valid
         */
        API_AVAILABLE(ios(14.0))
        void onNewSample(const HomogenousMatrix4& world_T_camera, const Timestamp& timestamp, const SharedAnyCamera& camera, const HomogenousMatrix4& device_T_depth, ARFrame* arFrame);
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameAKDepthTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeAKDepthTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF depth tracker.
         */
        explicit AKDepthTracker6DOF();
 
        /**
         * Destructs this 6DOF tracker.
         */
        ~AKDepthTracker6DOF() override;
 
    protected:
 
        /// The unique id for the world object.
        ObjectId worldObjectId_ = invalidObjectId();
 
        /// True, if the tracker has been started.
        bool isStarted_ = false;
 
        /// True, if the world object is currently tracked.
        bool worldIsTracked_ = false;
};
 
inline std::string AKDepthTracker6DOF::deviceNameAKDepthTracker6DOF()
{
    return std::string("ARKit 6DOF Depth Tracker");
}
 
inline AKDepthTracker6DOF::DeviceType AKDepthTracker6DOF::deviceTypeAKDepthTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL | SCENE_TRACKER_6DOF);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_DEPTH_TRACKER_6_DOF_H