SLAMTracker6DOF.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_SLAM_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_SLAM_TRACKER_6DOF_H
 
#include "ocean/devices/slam/SLAM.h"
#include "ocean/devices/slam/SLAMDevice.h"
 
#include "ocean/base/Thread.h"
 
#include "ocean/devices/Tracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/tracking/slam/TrackerMono.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace SLAM
{
 
/**
 * This class implements an SLAM feature based tracker.
 * @ingroup devicesslam
 */
class OCEAN_DEVICES_SLAM_EXPORT SLAMTracker6DOF :
    virtual public SLAMDevice,
    virtual public Tracker6DOF,
    virtual public VisualTracker,
    protected Thread
{
    friend class SLAMFactory;
 
    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;
 
        /**
         * Sets an abstract parameter of this device.
         * @see Device::setParameter().
         */
        bool setParameter(const std::string& parameter, const Value& value) 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 deviceNameSLAMTracker6DOF();
 
        /**
         * Returns the type of this tracker.
         * @return Tracker type
         */
        static inline DeviceType deviceTypeSLAMTracker6DOF();
 
    private:
 
        /**
         * Creates a new SLAM feature based 6DOF tracker object.
         */
        SLAMTracker6DOF();
 
        /**
         * Destructs an SLAM feature based 6DOF tracker object.
         */
        ~SLAMTracker6DOF() override;
 
        /**
         * Thread function.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
        /**
         * Posts a new camera pose.
         * @param world_T_camera The camera pose to post, must be valid
         * @param timestamp The timestamp of the frame to which the pose belongs
         */
        void postPose(const HomogenousMatrix4& world_T_camera, const Timestamp& timestamp);
 
    protected:
 
        /// The actual implementation of the tracker.
        Tracking::SLAM::TrackerMono trackerMono_;
 
        /// The unique object id of this tracker.
        ObjectId uniqueObjectId_ = invalidObjectId();
 
        /// True, if the SLAM tracker is currently actively providing a valid camera pose.
        std::atomic_bool isObjectTracked_ = false;
 
        /// The preferred width of the camera frame.
        unsigned int preferredCameraWidth_ = 0u;
 
        /// The preferred height of the camera frame.
        unsigned int preferredCameraHeight_ = 0u;
};
 
inline std::string SLAMTracker6DOF::deviceNameSLAMTracker6DOF()
{
    return std::string("SLAM Feature Based 6DOF Tracker");
}
 
inline SLAMTracker6DOF::DeviceType SLAMTracker6DOF::deviceTypeSLAMTracker6DOF()
{
    return SLAMTracker6DOF::DeviceType(SLAMTracker6DOF::deviceTypeTracker6DOF(), TRACKER_VISUAL);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_SLAM_TRACKER_6DOF_H