AKPlaneTracker6DOF.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_PLANE_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARKIT_AK_PLANE_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 a 6DOF plane tracker based on ARKit.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKPlaneTracker6DOF :
    virtual public AKDevice,
    virtual public SceneTracker6DOF,
    virtual public VisualTracker
{
    friend class AKFactory;
 
    protected:
 
        /**
         * Definition of an unordered map mapping anchor identifier strings to unique ids.
         */
        typedef std::unordered_map<std::string, Index32> IdentifierMap;
 
    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 arFrame The current ARFRame object containing additional data for the sample, must be valid
         */
        API_AVAILABLE(ios(11.3))
        void onNewSample(const HomogenousMatrix4& world_T_camera, const Timestamp& timestamp, ARFrame* arFrame);
 
        /**
         * Event function for a new 6DOF pose.
         * @param world_T_camera The transformation between camera and world, invalid if unknown/lost
         * @param sceneElement The scene element which is part of the sample, nullptr if no scene element is known
         * @param timestamp The timestamp of the new transformation
         * @param metadata The metadata of the sample
         */
        void onNewSample(const HomogenousMatrix4& world_T_camera, SharedSceneElement&& sceneElement, const Timestamp& timestamp, Metadata&& metadata);
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameAKPlaneTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeAKPlaneTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF plane tracker.
         */
        explicit AKPlaneTracker6DOF();
 
        /**
         * Destructs this 6DOF tracker.
         */
        ~AKPlaneTracker6DOF() 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;
 
        /// The map mapping unique plane identifier strings to plane ids.
        IdentifierMap identifierMap_;
 
        /// The counter for unique plane ids.
        unsigned int planeIdCounter_ = 0u;
};
 
inline std::string AKPlaneTracker6DOF::deviceNameAKPlaneTracker6DOF()
{
    return std::string("ARKit 6DOF Plane Tracker");
}
 
inline AKPlaneTracker6DOF::DeviceType AKPlaneTracker6DOF::deviceTypeAKPlaneTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL | SCENE_TRACKER_6DOF);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_PLANE_TRACKER_6_DOF_H