OnDeviceRelocalizerTracker6DOF.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_RELOCALIZER_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_MAPBUILDING_ON_DEVICE_RELOCALIZER_TRACKER_6DOF_H
 
#include "ocean/devices/mapbuilding/MapBuilding.h"
#include "ocean/devices/mapbuilding/MapBuildingDevice.h"
 
#include "ocean/base/Thread.h"
 
#include "ocean/devices/ObjectTracker.h"
#include "ocean/devices/SceneTracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/tracking/mapbuilding/RelocalizerMono.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace MapBuilding
{
 
/**
 * This class implements an On-Device Relocalizer based on offline created feature maps.
 * @ingroup devicesmapbuilding
 */
class OCEAN_DEVICES_MAPBUILDING_EXPORT OnDeviceRelocalizerTracker6DOF :
    virtual public MapBuildingDevice,
    virtual public SceneTracker6DOF,
    virtual public ObjectTracker,
    virtual public VisualTracker,
    protected Thread
{
    friend class MapBuildingFactory;
 
    public:
 
        /**
         * Adds a new tracking object.
         * The description must be the url of a file containing the feature map
         * @see ObjectTracker::registerObject().
         */
        ObjectId registerObject(const std::string& description, const Vector3& dimension) override;
 
        /**
         * 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;
 
        /**
         * Returns the name of this tracker.
         * @return Tracker name
         */
        static inline std::string deviceNameOnDeviceRelocalizerTracker6DOF();
 
        /**
         * Returns the type of this tracker.
         * @return Tracker type
         */
        static inline DeviceType deviceTypeOnDeviceRelocalizerTracker6DOF();
 
    private:
 
        /**
         * Creates a new 6DOF tracker object.
         */
        OnDeviceRelocalizerTracker6DOF();
 
        /**
         * Destructs a 6DOF tracker object.
         */
        ~OnDeviceRelocalizerTracker6DOF() override;
 
        /**
         * Thread function.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
    private:
 
        /// The map's unique id.
        ObjectId mapObjectId_ = invalidObjectId();
 
        /// True, if the map is currently tracked.
        bool isMapTracked_ = false;
 
        /// The reusable frame.
        Frame yFrame_;
 
        /// The relocalizer to be used to determine the 6-DOF pose.
        Tracking::MapBuilding::RelocalizerMono relocalizer_;
 
        /// The 3D object points of the relocalizer.
        Vectors3 objectPoints_;
 
        /// The ids of the object points of the relocalizer.
        Indices64 objectPointIds_;
};
 
inline std::string OnDeviceRelocalizerTracker6DOF::deviceNameOnDeviceRelocalizerTracker6DOF()
{
    return std::string("On-Device Relocalizer 6DOF Tracker");
}
 
inline OnDeviceRelocalizerTracker6DOF::DeviceType OnDeviceRelocalizerTracker6DOF::deviceTypeOnDeviceRelocalizerTracker6DOF()
{
    return DeviceType(deviceTypeTracker6DOF(), TRACKER_VISUAL | TRACKER_OBJECT);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_MAPBUILDING_ON_DEVICE_RELOCALIZER_TRACKER_6DOF_H