AKSceneTracker6DOF.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_SCENE_TRACKER_6_DOF_H
#define META_OCEAN_DEVICES_ARKIT_AK_SCENE_TRACKER_6_DOF_H
 
#include "ocean/devices/arkit/ARKit.h"
#include "ocean/devices/arkit/AKDevice.h"
 
#include "ocean/base/StringApple.h"
 
#include "ocean/devices/SceneTracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARKit
{
 
/**
 * This class implements the 6DOF scene tracker.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKSceneTracker6DOF :
    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.
         */
        using IdentifierMap = std::unordered_map<std::string, Index32>;
 
        /**
         * Helper class implementing a hash function for ARMeshAnchor.
         */
        struct ARMeshAnchorHash
        {
            /**
             * Hash function returning a hash value for an ARMeshAnchor object
             * @param anchor The anchor for which the hash will be returned
             * @return The resulting hash value
             */
            inline size_t operator()(const ARMeshAnchor* anchor) const;
        };
 
        /**
         * Definition of an unordered set holding ARMeshAnchor objects.
         */
        using ARMeshAnchorSet = std::unordered_set<ARMeshAnchor*, ARMeshAnchorHash>;
 
    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 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(11.3))
        void onNewSample(const HomogenousMatrix4& world_T_camera, const HomogenousMatrix4& world_T_rotatedWorld, 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 sceneElements The scene elements which are part of the sample, at least one
         * @param timestamp The timestamp of the new transformation
         * @param metadata The metadata of the sample
         */
        void onNewSample(const HomogenousMatrix4& world_T_camera, SharedSceneElements&& sceneElements, const Timestamp& timestamp, Metadata&& metadata);
 
        /**
         * Event function for added anchors.
         * @see AKDevice::onAddedAnchors().
         */
        void onAddedAnchors(const ARAnchors& anchors) override;
 
        /**
         * Event function for updated anchors.
         * @see AKDevice::onUpdateAnchors().
         */
        void onUpdateAnchors(const ARAnchors& anchors) override;
 
        /**
         * Returns the name of this tracker.
         * @return The trackers's name
         */
        static inline std::string deviceNameAKSceneTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return The tracker's device type
         */
        static inline DeviceType deviceTypeAKSceneTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF scene tracker.
         */
        explicit AKSceneTracker6DOF();
 
        /**
         * Destructs this 6DOF tracker.
         */
        ~AKSceneTracker6DOF() override;
 
        /**
         * Exracts the 3D vectors from a geometry source.
         * @param geometrySource The geometry source from wich all vectors will be extracted
         * @param vectors The resulting 3D vectors
         * @return True, if succeeded
         */
        API_AVAILABLE(ios(13.4))
        static bool extractVectors3(ARGeometrySource* geometrySource, Vectors3& vectors);
 
        /**
         * Extracts the indices from a geometry element.
         * @param geometryElement The geometry elemnt from which the indices will be extracted
         * @param indices The resulting indices
         * @return True, if succeeded
         */
        API_AVAILABLE(ios(13.4))
        static bool extractIndices(ARGeometryElement* geometryElement, Indices32& indices);
 
    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 mesh ids.
        IdentifierMap identifierMap_;
 
        /// The counter for unique mesh ids.
        unsigned int meshIdCounter_ = 0u;
 
        /// The set holding all updated ARMeshAnchor objects.
        ARMeshAnchorSet updatedMeshAnchors_;
};
 
inline size_t AKSceneTracker6DOF::ARMeshAnchorHash::operator()(const ARMeshAnchor* anchor) const
{
    return std::hash<std::string>()(StringApple::toUTF8(anchor.identifier.UUIDString));
}
 
inline std::string AKSceneTracker6DOF::deviceNameAKSceneTracker6DOF()
{
    return std::string("ARKit 6DOF Scene Tracker");
}
 
inline AKSceneTracker6DOF::DeviceType AKSceneTracker6DOF::deviceTypeAKSceneTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL | SCENE_TRACKER_6DOF);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_SCENE_TRACKER_6_DOF_H