PlaneTracker.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_TRACKING_OFFLINE_PLANE_TRACKER_H
#define META_OCEAN_TRACKING_OFFLINE_PLANE_TRACKER_H
 
#include "ocean/tracking/offline/Offline.h"
#include "ocean/tracking/offline/OfflineTracker.h"
#include "ocean/tracking/offline/TrackerEvent.h"
 
#include "ocean/base/SmartObjectRef.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace Offline
{
 
// Forward declaration.
class PlaneTracker;
 
/**
 * Definition of a smart object reference holding a PlaneTracker object.
 * @see PlaneTracker.
 * @ingroup trackingoffline
 */
typedef SmartObjectRef<PlaneTracker, OfflineTracker> PlaneTrackerRef;
 
/**
 * This class implements the abstract base class for all plane trackers.
 * @see PlaneTrackerRef.
 * @ingroup trackingoffline
 */
class OCEAN_TRACKING_OFFLINE_EXPORT PlaneTracker : virtual public OfflineTracker
{
    public:
 
        /**
         * Returns the plane of this tracker.
         * @return Plane that is tracked
         */
        virtual Plane3 plane() const;
 
        /**
         * Determines the transformation that transforms points defined in the local coordinate of the tracked object into points defined in the world coordinate system.
         * @param transformation Resulting transformation
         * @return True, if succeeded
         */
        virtual bool objectTransformation(HomogenousMatrix4& transformation) const;
 
    protected:
 
        /**
         * Creates a new plane tracker object.
         */
        PlaneTracker() = default;
 
        /**
         * Creates a new plane tracker object.
         * @param plane The plane of this tracker
         */
        inline PlaneTracker(const Plane3& plane);
 
        /**
         * Updates the plane of this tracker and invokes the corresponding state event(s).
         * @param plane New plane for this tracker
         */
        virtual void updatePlane(const Plane3& plane);
 
    protected:
 
        /// The plane of this tracker.
        Plane3 plane_;
 
        /// The tracker object transformation the tracker coordinate system into the world coordinate system.
        HomogenousMatrix4 objectTransformation_ = HomogenousMatrix4(false);
};
 
PlaneTracker::PlaneTracker(const Plane3& plane) :
    OfflineTracker(),
    plane_(plane),
    objectTransformation_(false)
{
    ocean_assert(plane_.isValid());
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_OFFLINE_PLANE_TRACKER_H