AKRoomPlanTracker6DOF.h

Go to the documentation of this file.

/*
 * 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_ROOM_PLAN_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARKIT_AK_ROOM_PLAN_TRACKER_6_DOF_H
 
#include "ocean/devices/arkit/ARKit.h"
 
#include "ocean/devices/SceneTracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/devices/arkit/roomplan/native/AKRoomPlanTracker6DOFBase.h"
 
#include "ocean/devices/arkit/roomplan/swift/AKRoomPlanTracker6DOF_Objc.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARKit
{
 
/**
 * This class implements the 6DOF RoomPlan tracker.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKRoomPlanTracker6DOF :
    virtual public AKRoomPlanTracker6DOFBase,
    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;
 
        /**
         * Returns the name of the owner library.
         * @see Device::library().
         */
        const std::string& library() const override;
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameAKRoomPlanTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeAKRoomPlanTracker6DOF();
 
        /**
         * Returns whether the tracker is supported on the platform.
         * @return True, if so
         */
        static bool isSupported();
 
    protected:
 
        /**
         * Creates a new 6DOF room plan tracker.
         */
        explicit AKRoomPlanTracker6DOF();
 
        /**
         * Destructs this 6DOF tracker.
         */
        ~AKRoomPlanTracker6DOF() 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(11.0))
        void onNewSample(const HomogenousMatrix4& world_T_camera, const Timestamp& timestamp, ARFrame* arFrame) override;
 
        /**
         * Event function that the capture session has started.
         */
        void onCaptureSessionStarted() override;
 
        /**
         * Event function for added room objects.
         * @param planarRoomObjects The new planar objects
         * @param volumetricRoomObjects The new volumetric objects
         */
        void onCaptureSessionAdded(const SharedPlanarRoomObjects& planarRoomObjects, const SharedVolumetricRoomObjects& volumetricRoomObjects) override;
 
        /**
         * Event function for removed room objects.
         * @param planarRoomObjects The removed planar objects
         * @param volumetricRoomObjects The removed volumetric objects
         */
        void onCaptureSessionRemoved(const SharedPlanarRoomObjects& planarRoomObjects, const SharedVolumetricRoomObjects& volumetricRoomObjects) override;
 
        /**
         * Event function for changed room objects.
         * @param planarRoomObjects The changed planar objects
         * @param volumetricRoomObjects The changed volumetric objects
         */
        void onCaptureSessionChanged(const SharedPlanarRoomObjects& planarRoomObjects, const SharedVolumetricRoomObjects& volumetricRoomObjects) override;
 
        /**
         * Event function for updated room objects.
         * @param planarRoomObjects The updated planar objects
         * @param volumetricRoomObjects The updated volumetric objects
         */
        void onCaptureSessionUpdated(const SharedPlanarRoomObjects& planarRoomObjects, const SharedVolumetricRoomObjects& volumetricRoomObjects) override;
 
        /**
         * Event function for instructions.
         * @param instructionValue The instruction
         */
        void onCaptureSessionInstruction(const InstructionValue instructionValue) override;
 
        /**
         * Event function that the capture session has stopped.
         */
        void onCaptureSessionStopped() 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 Objc wrapper of the actual RoomPlan tracker.
        AKRoomPlanTracker6DOF_Objc* akRoomPlanTracker_ = nullptr;
 
        /// The latest room objects.
        SceneElementRoom::RoomObjectMap roomObjectMap_;
 
        /// The identifiers of all added room objects.
        SceneElementRoom::RoomObjectIdentifierSet addedRoomObjects_;
 
        /// The identifiers of all removed room objects.
        SceneElementRoom::RoomObjectIdentifierSet removedRoomObjects_;
 
        /// The identifiers of all changed room objects.
        SceneElementRoom::RoomObjectIdentifierSet changedRoomObjects_;
 
        /// The identifiers of all updated room objects.
        SceneElementRoom::RoomObjectIdentifierSet updatedRoomObjects_;
 
        /// The latest instructions.
        InstructionValue instructionValue_ = IV_UNKNOWN;
};
 
inline std::string AKRoomPlanTracker6DOF::deviceNameAKRoomPlanTracker6DOF()
{
    return std::string("ARKit 6DOF Room Plan Tracker");
}
 
inline AKRoomPlanTracker6DOF::DeviceType AKRoomPlanTracker6DOF::deviceTypeAKRoomPlanTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_ROOM_PLAN_TRACKER_6_DOF_H