OnDeviceMapCreatorTracker6DOF.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_MAPBUILDING_ON_DEVICE_MAP_CREATOR_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_MAPBUILDING_ON_DEVICE_MAP_CREATOR_TRACKER_6DOF_H
 
#include "ocean/devices/mapbuilding/MapBuilding.h"
#include "ocean/devices/mapbuilding/MapBuildingDevice.h"
 
#include "ocean/base/Thread.h"
 
#include "ocean/devices/SceneTracker6DOF.h"
#include "ocean/devices/Tracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/math/AnyCamera.h"
#include "ocean/math/HomogenousMatrix4.h"
 
#include "ocean/tracking/mapbuilding/Unified.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace MapBuilding
{
 
/**
 * This class implements an On-Device map creator.
 * @ingroup devicesmapbuilding
 */
class OCEAN_DEVICES_MAPBUILDING_EXPORT OnDeviceMapCreatorTracker6DOF :
    virtual public MapBuildingDevice,
    virtual public SceneTracker6DOF,
    virtual public VisualTracker,
    protected Thread
{
    friend class MapBuildingFactory;
 
    public:
 
        /**
         * Returns whether this device is active.
         * @see Devices::isStarted().
         */
         bool isStarted() const override;
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Returns whether a specific object is currently actively tracked by this tracker.
         * @see Tracker::isObjectTracked().
         */
        bool isObjectTracked(const ObjectId& objectId) const override;
 
        /**
         * Exports the determined scene elements.
         * Supported formats: 'ocean_map'
         * Supported options: empty or 'optimized'
         * @see SceneTracker6DOF::exportSceneElements().
         */
        bool exportSceneElements(const std::string& format, std::ostream& outputStream, const std::string& options = std::string()) const override;
 
        /**
         * Returns the name of this tracker.
         * @return Tracker name
         */
        static inline std::string deviceNameOnDeviceMapCreatorTracker6DOF();
 
        /**
         * Returns the type of this tracker.
         * @return Tracker type
         */
        static inline DeviceType deviceTypeOnDeviceMapCreatorTracker6DOF();
 
    private:
 
        /**
         * Creates a new 6DOF tracker object.
         */
        OnDeviceMapCreatorTracker6DOF();
 
        /**
         * Destructs a 6DOF tracker object.
         */
        ~OnDeviceMapCreatorTracker6DOF() override;
 
        /**
         * Thread function.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
        /**
         * Event function for new tracking samples from the world tracker.
         * @param measurement The measurement object sending the sample
         * @param sample The new samples with resulting from world tracker
         */
        void onWorldTrackerSample(const Measurement* measurement, const SampleRef& sample);
 
    private:
 
        /// The object tracking id of the map.
        ObjectId mapObjectId_ = invalidObjectId();
 
        /// True, if the map is currently tracked; False, if e.g., the SLAM tracker is failing.
        bool isMapTracked_ = false;
 
        /// The world tracker to be used.
        Devices::Tracker6DOFRef worldTracker_;
 
        /// The subscription for world tracker sample events.
        SampleEventSubscription worldTrackerSampleSubscription_;
 
        /// The camera profile from the tracker's last execution.
        mutable SharedAnyCamera lastAnyCamera_;
 
        /// The tracking database from the tracker's last execution.
        mutable Tracking::Database lastDatabase_;
 
        /// The descriptor map form the tracker's last execution.
        mutable std::shared_ptr<Tracking::MapBuilding::UnifiedDescriptorMap> lastUnifiedDescriptorMap_;
 
        /// The recent 3D object points of the current state of the created map.
        Vectors3 recentObjectPoints_;
 
        /// The recent object point ids of the current state of the created map.
        Indices64 recentObjectPointIds_;
 
        /// The lock for the recent points.
        Lock pointLock_;
};
 
inline std::string OnDeviceMapCreatorTracker6DOF::deviceNameOnDeviceMapCreatorTracker6DOF()
{
    return std::string("On-Device Map Creator 6DOF Tracker");
}
 
inline OnDeviceMapCreatorTracker6DOF::DeviceType OnDeviceMapCreatorTracker6DOF::deviceTypeOnDeviceMapCreatorTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), SCENE_TRACKER_6DOF | TRACKER_VISUAL);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_MAPBUILDING_ON_DEVICE_MAP_CREATOR_TRACKER_6DOF_H