AKGeoAnchorsTracker6DOF.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_GEO_ANCHORS_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARKIT_AK_GEO_ANCHORS_TRACKER_6_DOF_H
 
#include "ocean/devices/arkit/ARKit.h"
#include "ocean/devices/arkit/AKDevice.h"
 
#include "ocean/devices/ObjectTracker.h"
#include "ocean/devices/Tracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARKit
{
 
/**
 * This class implements ARKit's 6-DOF Geo Anchors tracker.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKGeoAnchorsTracker6DOF :
    virtual public AKDevice,
    virtual public Tracker6DOF,
    virtual public ObjectTracker,
    virtual public VisualTracker
{
    friend class AKFactory;
 
    public:
 
        /**
         * Definition of an unordered map mapping object ids to transformations.
         */
        typedef std::unordered_map<ObjectId, HomogenousMatrix4> TransformationMap;
 
    protected:
 
        /**
         * This class stores GPS locations.
         */
        class Location
        {
            public:
 
                /**
                 * Creates a new location object.
                 * @param objectId The object id of the location
                 * @param latitude The location's latitude, in degree, with range [-90, 90]
                 * @param longitude The location's longitude, in degree, with range [-180, 180]
                 * @param altitude The location's altitude, in meters, with range (-infinity, infinity), NumericD::minVaue() if unknown
                 */
                inline Location(const ObjectId objectId, const double latitude, const double longitude, const double altitude);
 
            public:
 
                /// The location's latitude, in degree, with range [-90, 90].
                double latitude_ = NumericD::minValue();
 
                /// The location's longitude, in degree, with range [-180, 180].
                double longitude_ = NumericD::minValue();
 
                /// The location's altitude, in meters, with range (-infinity, infinity), NumericD::minVaue() if unknown.
                double altitude_ = NumericD::minValue();
 
                /// The object id of the location.
                ObjectId objectId_ = invalidObjectId();
        };
 
        /**
         * Definition of a vector holding locations.
         */
        typedef std::vector<Location> Locations;
 
    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;
 
        /**
         * Registers (adds) a new object to be tracked.
         * @see ObjectTracker::registerObject().
         */
        ObjectId registerObject(const std::string& description, const Vector3& dimension) override;
 
        /**
         * Unregisters (removes) a previously registered object.
         * @see ObjectTracker::unregisterObject().
         */
        bool unregisterObject(const ObjectId objectId) 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 world_T_rotatedWorld The optional transformation between ARKit's rotated world and the standard world, should only be identity or the flip matrix around y-axis
         * @param timestamp The timestamp of the new transformation
         * @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 HomogenousMatrix4& world_T_rotatedWorld, const Timestamp& timestamp, ARFrame* arFrame);
 
        /**
         * Event function for new 6DOF transformations.
         * @param anchors_T_camera The transformations of all currently known anchors
         * @param timestamp The timestamp of the new transformation
         * @param metadata The metadata of the sample
         */
        void onNewSample(const TransformationMap& anchors_T_camera, const Timestamp& timestamp, Metadata&& metadata);
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameAKGeoAnchorsTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeAKGeoAnchorsTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF Geo Anchor tracker.
         */
        explicit AKGeoAnchorsTracker6DOF();
 
        /**
         * Destructs this tracker.
         */
        ~AKGeoAnchorsTracker6DOF() override;
 
    protected:
 
        /// The ids of all objects (including the world object) which are currently tracked.
        ObjectIdSet trackedObjectIds_;
 
        /// True, if the tracker has been started.
        bool isStarted_ = false;
 
        /// Intermediate locations which have been registered before the device have been started.
        Locations intermediateLocations_;
};
 
inline AKGeoAnchorsTracker6DOF::Location::Location(const ObjectId objectId, const double latitude, const double longitude, const double altitude) :
    latitude_(latitude),
    longitude_(longitude),
    altitude_(altitude),
    objectId_(objectId)
{
    // nothing to do here
}
 
inline std::string AKGeoAnchorsTracker6DOF::deviceNameAKGeoAnchorsTracker6DOF()
{
    return std::string("ARKit 6DOF Geo Anchors Tracker");
}
 
inline AKGeoAnchorsTracker6DOF::DeviceType AKGeoAnchorsTracker6DOF::deviceTypeAKGeoAnchorsTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_GEO_ANCHORS_TRACKER_6_DOF_H