SceneTracker6DOF.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_SCENE_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_SCENE_TRACKER_6DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/Tracker6DOF.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/math/AnyCamera.h"
#include "ocean/math/Box3.h"
#include "ocean/math/Plane3.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class SceneTracker6DOF;
 
/**
 * Definition of a smart object reference for a 6-DOF scene tracker.
 * @see SceneTracker6DOF.
 * @ingroup devices
 */
typedef SmartDeviceRef<SceneTracker6DOF> SceneTracker6DOFRef;
 
/**
 * This class implements the base for all 6-DOF scene trackers.
 * Scene trackers provides 6-DOF transformations in combination with scene elements like point clouds, meshes, planes, or other content from the environment.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT SceneTracker6DOF : virtual public Tracker6DOF
{
    public:
 
        /**
         * This class implements the base class of all scene elements.
         */
        class SceneElement
        {
            public:
 
                /**
                 * Definition of individual types of scene elements.
                 */
                enum SceneElementType : uint32_t
                {
                    /// The scene element is invalid.
                    SET_INVALID = 0u,
                    ///  The scene element contains 3D object points.
                    SET_OBJECT_POINTS,
                    ///  The scene element contains 2D/3D correspondences.
                    SET_FEATURE_CORRESPONDENCES,
                    ///  The scene element contains 3D planes.
                    SET_PLANES,
                    ///  The scene element contains 3D meshes.
                    SET_MESHES,
                    ///  The scene element contains depth information.
                    SET_DEPTH,
                    /// The scene element contains room objects.
                    SET_ROOM
                };
 
            public:
 
                /**
                 * Destructs a scene element.
                 */
                virtual ~SceneElement() = default;
 
                /**
                 * Returns the type of this scene element.
                 * @return The scene element type
                 */
                inline SceneElementType sceneElementType() const;
 
            protected:
 
                /**
                 * Creates a default scene element with specified type.
                 * @param sceneElementType The type of the new scene element
                 */
                explicit inline SceneElement(const SceneElementType sceneElementType);
 
            protected:
 
                /// The type of the scene element.
                SceneElementType sceneElementType_ = SET_INVALID;
        };
 
        /**
         * Definition of a scene element holding 3D object points.
         * Each 3D object point may be associated with a corresponding object point id.
         */
        class SceneElementObjectPoints : public SceneElement
        {
            public:
 
                /**
                 * Creates a new SceneElement object for 3D object points.
                 * @param objectPoints The 3D object points, at least one
                 * @param objectPointIds Optional ids of the object points, one for each 3D object point, empty if unknown
                 */
                inline SceneElementObjectPoints(Vectors3&& objectPoints, Indices64&& objectPointIds = Indices64());
 
                /**
                 * Returns the 3D object points of this scene element.
                 * @return The scene element's object points
                 */
                inline const Vectors3& objectPoints() const;
 
                /**
                 * Returns the unique ids of the object points if known.
                 * @return The object point ids, empty if unknown
                 */
                inline const Indices64& objectPointIds() const;
 
            protected:
 
                /// The 3D object points of this scene element.
                Vectors3 objectPoints_;
 
                /// The unique ids of this scene element.
                Indices64 objectPointIds_;
        };
 
        /**
         * This class implements a scene element holding 2D/3D feature correspondences.
         */
        class SceneElementFeatureCorrespondences : public SceneElement
        {
            public:
 
                /**
                 * Creates a new scene element for 2D/3D correspondences.
                 * @param objectPoints The 3D object points of the correspondences, at least one
                 * @param imagePoints The 2D image points of the correspondences, one for each 3D object point
                 * @param objectPointIds The optional ids of the object points, one for each 3D obect point, or empty if unknown
                 */
                inline SceneElementFeatureCorrespondences(Vectors3&& objectPoints, Vectors2&& imagePoints, Indices64&& objectPointIds = Indices64());
 
                /**
                 * Returns the 3D object points of this scene element.
                 * @return The scene element's 3D object points
                 */
                inline const Vectors3& objectPoints() const;
 
                /**
                 * Returns the 2D image points of this scene element.
                 * @return The scene element's image points, one for each 3D object point
                 */
                inline const Vectors2& imagePoints() const;
 
                /**
                 * Returns the unique object point ids.
                 * @return The object point ids, empty if unknown
                 */
                inline const Indices64& objectPointIds() const;
 
            protected:
 
                /// The 3D object points of this scene element.
                Vectors3 objectPoints_;
 
                /// The 2D image points of this scene element, one for each 3D object point.
                Vectors2 imagePoints_;
 
                /// The unique ids of the 3D object points, if known.
                Indices64 objectPointIds_;
        };
 
        /**
         * This class implements a scene element holding 3D planes.
         */
        class SceneElementPlanes : public SceneElement
        {
            public:
 
                /**
                 * This class stores the relevant information of a 3D plane.
                 * Most properties of the class (e.g., vertices, bounding box) are defined in relation to the plane's coordinate system.<br>
                 * The plane's normal is identical to the y-axis of the plane's coordinate system.
                 */
                class Plane
                {
                    public:
 
                        /**
                         * Definition of individual plane types.
                         */
                        enum PlaneType : uint32_t
                        {
                            /// The plane type is unknown.
                            PT_UNKNOWN = 0u,
                            /// The plane is horizontal and perpendicular to gravity (e.g., a floor/ceiling plane).
                            PT_HORIZONTAL,
                            /// The plane is vertical and parallel to gravity (e.g., a wall plane).
                            PT_VERTICAL
                        };
 
                    public:
 
                        /**
                         * Creates a new plane object.
                         * @param planeId The plane's unique id, must be valid
                         * @param planeType The type of the plane
                         * @param world_T_plane The transformation between plane and world, with y-axis identical to the plane's normal, must be valid
                         * @param boundingBox The bounding box of the plane, defined in the plane's coordinate system, must be valid
                         * @param boundaryVertices The vertices of the boundary of the plane, defined in the plane's coordinate system
                         */
                        inline Plane(const Index32 planeId, const PlaneType planeType, const HomogenousMatrix4& world_T_plane, const Box3& boundingBox, Vectors3&& boundaryVertices);
 
                        /**
                         * Creates a new plane object.
                         * @param planeId The plane's unique id, must be valid
                         * @param planeType The type of the plane
                         * @param world_T_plane The transformation between plane and world, with y-axis identical to the plane's normal, must be valid
                         * @param boundingBox The bounding box of the plane, defined in the plane's coordinate system, must be valid
                         * @param vertices The plane's vertices, defined in the plane's coordinate system, at least 3
                         * @param textureCoordinates The vertices' texture coordinates, one for each vertex, empty if unknown
                         * @param triangleIndices The indices of the vertices representing the plane's surface triangles, three indices define one triangle, always a multiple of three
                         * @param boundaryVertices The vertices of the boundary of the plane, defined in the plane's coordinate system
                         */
                        inline Plane(const Index32 planeId, const PlaneType planeType, const HomogenousMatrix4& world_T_plane, const Box3& boundingBox, Vectors3&& vertices, Vectors2&& textureCoordinates, Indices32&& triangleIndices, Vectors3&& boundaryVertices);
 
                        /**
                         * Returns the unique id of the plane.
                         * @return The plane's unique id
                         */
                        inline Index32 planeId() const;
 
                        /**
                         * Returns the type of the plane.
                         * @return The plane's type
                         */
                        inline PlaneType planeType() const;
 
                        /**
                         * Returns the transformation of the plane in relation to world.
                         * The plane's normal is identical to the y-axis of the plane's coordinate system.
                         * @return The transformation between plane and world
                         */
                        inline const HomogenousMatrix4& world_T_plane() const;
 
                        /**
                         * Returns the 3D plane as defined in world.
                         * @return The plane object which can be used e.g. for advanced math calculations, defined in world
                         */
                        inline Plane3 worldPlane() const;
 
                        /**
                         * Returns the plane's bounding box (the extent of the plane).
                         * @return The bounding box of the plane, defined in the plane's coordinate system
                         */
                        inline const Box3& boundingBox() const;
 
                        /**
                         * Returns the vertices representing the plane.
                         * @return The plane's vertices, defined in the plane's coordinate system, empty if unknown
                         */
                        inline const Vectors3& vertices() const;
 
                        /**
                         * Returns the texture coordinates of the vertices, if known.
                         * @return The vertices' texture coordinates, one for each vertex, empty if unknown
                         */
                        inline const Vectors2& textureCoordinates() const;
 
                        /**
                         * Returns the indices of the vertices representing the plane's surface triangles, three indices define one triangle, always a multiple of three.
                         * @return The indices of the plane's triangles, empty if unknown
                         */
                        inline const Indices32& triangleIndices() const;
 
                        /**
                         * Returns the vertices of the boundary of the plane.
                         * @return The plane's boundary vertices, defined in the plane's coordinate system
                         */
                        inline const Vectors3& boundaryVertices() const;
 
                    protected:
 
                        /// The unique id of this plane.
                        Index32 planeId_ = Index32(-1);
 
                        /// The type of the plane.
                        PlaneType planeType_ = PT_UNKNOWN;
 
                        /// The transformation between plane and world, with y-axis as the plane's normal.
                        HomogenousMatrix4 world_T_plane_ = HomogenousMatrix4(false);
 
                        /// The bounding box of the plane, defined in the plane's origin.
                        Box3 boundingBox_;
 
                        /// The vertices representing the plane, defined in the plane's coordinate system.
                        Vectors3 vertices_;
 
                        /// The vertices' texture coordinates, one for each vertex, empty if unknown.
                        Vectors2 textureCoordinates_;
 
                        /// The indices of the vertices representing the plane's surface triangles, three indices define one triangle, always a multiple of three.
                        Indices32 triangleIndices_;
 
                        /// The vertices of the boundaries of the plane, defined in the plane's coordinate system.
                        Vectors3 boundaryVertices_;
                };
 
                /**
                 * Definition of a vector holding planes.
                 */
                typedef std::vector<Plane> Planes;
 
            public:
 
                /**
                 * Creates a new scene element object with several given planes.
                 * @param planes The planes of the new scene element, at least one
                 */
                explicit inline SceneElementPlanes(Planes&& planes);
 
                /**
                 * Returns all planes of this scene element object, may be empty.
                 * @return The scene element's planes
                 */
                inline const Planes& planes() const;
 
            protected:
 
                /// The planes stores in this scene element object.
                Planes planes_;
        };
 
        /**
         * This class implements a scene element holding 3D meshes.
         */
        class SceneElementMeshes : public SceneElement
        {
            public:
 
                /**
                 * This class stores the relevant information of a 3D mesh.
                 * Most properties of the class (e.g., vertices, bounding box) are defined in relation to the mesh's coordinate system.<br>
                 */
                class Mesh
                {
                    public:
 
                        /**
                         * Definition of individual face types.
                         */
                        enum FaceType : uint8_t
                        {
                            /// The face type is unknown.
                            FT_UNKNOWN = 0u,
                            /// The face is representing a wall.
                            FT_WALL,
                            /// The face is representing a floor.
                            FT_FLOOR,
                            /// The face is representing a ceiling.
                            FT_CEILING,
                            /// The face is representing a table.
                            FT_TABLE,
                            /// The face is representing a seat.
                            FT_SEAT,
                            /// The face is representing a window.
                            FT_WINDOW,
                            /// The face is representing a door.
                            FT_DOOR,
                            /// The exlusive end value.
                            FT_END
                        };
 
                        /**
                         * Definition of a vector holding face types.
                         */
                        using FaceTypes = std::vector<FaceType>;
 
                    public:
 
                        /**
                         * Creates a new mesh object.
                         * @param meshId The mesh's unique id, must be valid
                         * @param world_T_mesh The transformation between mesh and world, must be valid
                         * @param vertices The mesh's vertices, defined in the mesh's coordinate system, at least 3
                         * @param perVertexNormals The per-vertex normals of the mesh's faces, defined in the mesh's coordinate system, one for each vertex
                         * @param triangleIndices The indices of the vertices representing the mesh's surface triangles, three indices define one triangle, always a multiple of three
                         * @param faceTypes Optional face types of the mesh, one for each triangle, empty if unknown
                         */
                        inline Mesh(const Index32 meshId, const HomogenousMatrix4& world_T_mesh, Vectors3&& vertices, Vectors3&& perVertexNormals, Indices32&& triangleIndices, FaceTypes&& faceTypes = FaceTypes());
 
                        /**
                         * Returns the unique id of the mesh.
                         * @return The mesh's unique id
                         */
                        inline Index32 meshId() const;
 
                        /**
                         * Returns the transformation of the mesh in relation to world.
                         * @return The transformation between mesh and world
                         */
                        inline const HomogenousMatrix4& world_T_mesh() const;
 
                        /**
                         * Returns the vertices representing the mesh.
                         * @return The mesh's vertices, defined in the mesh's coordinate system
                         */
                        inline const Vectors3& vertices() const;
 
                        /**
                         * Returns the per-vertex normals of the mesh's faces.
                         * @return The mesh's normals, defined in the mesh's coordinate system, one for each vertex
                         */
                        inline const Vectors3& perVertexNormals() const;
 
                        /**
                         * Returns the indices of the vertices representing the mesh's surface triangles, three indices define one triangle, always a multiple of three.
                         * @return The indices of the mesh's triangles, empty if unknown
                         */
                        inline const Indices32& triangleIndices() const;
 
                        /**
                         * Returns the face types of the mesh, one for each triangle, empty if unknown.
                         * @return The mesh's face types, empty if unknown
                         */
                        inline const FaceTypes& faceTypes() const;
 
                    protected:
 
                        /// The unique id of this mesh.
                        Index32 meshId_ = Index32(-1);
 
                        /// The transformation between mesh and world.
                        HomogenousMatrix4 world_T_mesh_ = HomogenousMatrix4(false);
 
                        /// The vertices representing the mesh, defined in the mesh's coordinate system.
                        Vectors3 vertices_;
 
                        /// The per-vertex normals of the mesh, one for each vertex.
                        Vectors3 perVertexNormals_;
 
                        /// The indices of the vertices representing the mesh's surface triangles, three indices define one triangle, always a multiple of three.
                        Indices32 triangleIndices_;
 
                        /// The face types of the mesh, one for each triangle, empty if unknown.
                        FaceTypes faceTypes_;
                };
 
                /**
                 * Definition of a shared pointer for Mesh objects.
                 */
                typedef std::shared_ptr<Mesh> SharedMesh;
 
                /**
                 * Definition of a vector holding meshes.
                 */
                typedef std::vector<SharedMesh> SharedMeshes;
 
            public:
 
                /**
                 * Creates a new scene element object with several given meshes.
                 * @param meshes The meshes of the new scene element, at least one
                 */
                explicit inline SceneElementMeshes(SharedMeshes meshes);
 
                /**
                 * Returns all meshes of this scene element object, may be empty.
                 * @return The scene element's meshes
                 */
                inline const SharedMeshes& meshes() const;
 
            protected:
 
                /// The meshes stores in this scene element object.
                SharedMeshes meshes_;
        };
 
        /**
         * This class implements a scene element holding depth information.
         */
        class SceneElementDepth : public SceneElement
        {
            public:
 
                /**
                 * Creates a new scene element object with depth information.
                 * @param camera The camera profile defining the projection of the depth image, must be valid
                 * @param device_T_depth The transformation between depth image and device, must be valid
                 * @param depth The depth image, must be valid
                 * @param confidence The confidence map, one entry for each pixel in the depth image, nullptr if unknown
                 */
                inline SceneElementDepth(SharedAnyCamera camera, const HomogenousMatrix4& device_T_depth, std::shared_ptr<Frame> depth, std::shared_ptr<Frame> confidence = nullptr);
 
                /**
                 * Returns the camera profile of the depth image.
                 * @return The depth image's camera profile
                 */
                inline SharedAnyCamera camera() const;
 
                /**
                 * Returns the transformation between depth image and the device.
                 * @return The scene element's transformation between depth image and device
                 */
                inline const HomogenousMatrix4& device_T_depth() const;
 
                /**
                 * Returns the depth image.
                 * @param confidence Optional returning confidence map, will be invalid if unknown; nullptr if not of interest
                 * @return The scene element's depth image
                 */
                inline std::shared_ptr<Frame> depth(std::shared_ptr<Frame>* confidence = nullptr) const;
 
            protected:
 
                /// The camera profile defining the projection of the depth image.
                SharedAnyCamera camera_;
 
                /// The transformation between depth image and the device.
                HomogenousMatrix4 device_T_depth_ = HomogenousMatrix4(false);
 
                /// The scene element's depth image.
                std::shared_ptr<Frame> depth_;
 
                /// The scene element's confidence map, one entry for each pixel in the depth image, if known.
                std::shared_ptr<Frame> confidence_;
        };
 
        /**
         * This class implements a scene element holding room objects.
         */
        class SceneElementRoom : public SceneElement
        {
            public:
 
                /**
                 * This class implemenets the base class for all room objects.
                 */
                class OCEAN_DEVICES_EXPORT RoomObject
                {
                    public:
 
                        /**
                         * Definition of individual room object types.
                         */
                        enum ObjectType : uint32_t
                        {
                            /// Undefined type.
                            OT_UNDEFINED = 0u,
                            /// The object is a planar room object.
                            OT_PLANAR,
                            /// The object is a volumetric room object.
                            OT_VOLUMETRIC
                        };
 
                    protected:
 
                        /**
                         * Creates a new room object.
                         * @param objectType The type of the object, must be valid
                         * @param identifier The unique identifier of the object
                         * @param confidence The confidence of the object, with range [0, 1], higher is better
                         * @param world_T_object The transformation between object and world, must be valid
                         * @param dimension The dimension of the object
                         */
                        inline RoomObject(const ObjectType objectType, std::string&& identifier, const float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension);
 
                    public:
 
                        /**
                         * Returns the type of this object.
                         * @return The object's type
                         */
                        inline ObjectType objectType() const;
 
                        /**
                         * Returns the unique identifier of this object.
                         * @return The object's identifier
                         */
                        inline const std::string& identifier() const;
 
                        /**
                         * Returns the confidence of this object.
                         * @return The object's confidence, with range [0, 1], higher is better
                         */
                        inline float confidence() const;
 
                        /**
                         * Returns the transformation between this object and world.
                         * @return The object's transformation
                         */
                        inline const HomogenousMatrix4& world_T_object() const;
 
                        /**
                         * Sets or updates the transformation between this object and world.
                         * @param world_T_object The transformation to be set, must be valid
                         */
                        inline void setWorld_T_object(const HomogenousMatrix4& world_T_object);
 
                        /**
                         * Returns the dimension of this object.
                         * @return The object's dimension
                         */
                        inline const Vector3& dimension() const;
 
                        /**
                         * Translates the type of an object to a readable string.
                         * @param objectType The object type to translate
                         * @return The readable string
                         */
                        static std::string translateObjectType(const ObjectType objectType);
 
                        /**
                         * Translates the readable string of an object type to an object type value.
                         * @param objectType The readable string to translate
                         * @return The object type value, OT_UNDEFINED if invalid
                         */
                        static ObjectType translateObjectType(const std::string& objectType);
 
                    protected:
 
                        /// The type of this object.
                        ObjectType objectType_ = OT_UNDEFINED;
 
                        /// The unique identifier of this object.
                        std::string identifier_;
 
                        /// The confidence of this object, with range [0, 1], higher is better.
                        float confidence_ = 0.0f;
 
                        /// The transformation between this object and world.
                        HomogenousMatrix4 world_T_object_ = HomogenousMatrix4(false);
 
                        /// The dimension of this object.
                        Vector3 dimension_ = Vector3(0, 0, 0);
                };
 
                /**
                 * This class implements a room object which is planar/flat.
                 */
                class OCEAN_DEVICES_EXPORT PlanarRoomObject : public RoomObject
                {
                    public:
 
                        /**
                         * Definition of individual types of planar objects.
                         */
                        enum PlanarType : uint32_t
                        {
                            /// The type is unknown.
                            PT_UNKNOWN = 0u,
                            /// The object is a planar wall.
                            PT_WALL,
                            /// The object is a door.
                            PT_DOOR,
                            /// The object is a window.
                            PT_WINDOW,
                            /// The object is an opening.
                            PT_OPENING,
                            /// The object is a floor.
                            PT_FLOOR,
                            /// The end type.
                            PT_END
                        };
 
                    public:
 
                        /**
                         * Creates a new room object.
                         * @param identifier The unique identifier of the object
                         * @param planarType The type of the planar object, must be valid
                         * @param confidence The confidence of the object, with range [0, 1], higher is better
                         * @param world_T_object The transformation between object and world, must be valid
                         * @param dimension The dimension of the object
                         */
                        inline PlanarRoomObject(std::string&& identifier, const PlanarType planarType, const float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension);
 
                        /**
                         * Returns the planar type of this object.
                         * @return The object's planar type
                         */
                        inline PlanarType planarType() const;
 
                        /**
                         * Translates the planar type to a readable string.
                         * @param planarType The type to translate
                         * @return The translated type
                         */
                        static std::string translatePlanarType(const PlanarType planarType);
 
                        /**
                         * Translates the readable stirng of a planar type to the corresponding value.
                         * @param planarType The type to translate
                         * @return The translated type
                         */
                        static PlanarType translatePlanarType(const std::string& planarType);
 
                    protected:
 
                        /// The planar type of this object.
                        PlanarType planarType_ = PT_UNKNOWN;
                };
 
                /**
                 * This class implements a room object which is volumetric.
                 */
                class OCEAN_DEVICES_EXPORT VolumetricRoomObject : public RoomObject
                {
                    public:
 
                        /**
                         * Definition of individual types of volumetric objects.
                         */
                        enum VolumetricType : uint32_t
                        {
                            /// The type is unknown.
                            VT_UNKNOWN = 0u,
                            /// The object is a storage.
                            VT_STORAGE,
                            /// The object is a refrigerator.
                            VT_REFRIGERATOR,
                            /// The object is a stove.
                            VT_STOVE,
                            /// The object is a bed.
                            VT_BED,
                            /// The object is a sink.
                            VT_SINK,
                            /// The object is a washer/driver.
                            VT_WASHER_DRYER,
                            /// The object is a toilet.
                            VT_TOILET,
                            /// The object is a bathtub.
                            VT_BATHTUB,
                            /// The object is an oven.
                            VT_OVEN,
                            /// The object is a dishwasher.
                            VT_DISHWASHER,
                            /// The object is a table.
                            VT_TABLE,
                            /// The object is a sofa.
                            VT_SOFA,
                            /// The object is a char.
                            VT_CHAIR,
                            /// The object is a fire place.
                            VT_FIREPLACE,
                            /// The object is a television.
                            VT_TELEVISION,
                            /// The object is stairs.
                            VT_STAIRS,
                            /// The end type.
                            VT_END
                        };
 
                    protected:
 
                        /**
                         * Definition of an unordered map mapping readable strings to volumetric types.
                         */
                        typedef std::unordered_map<std::string, VolumetricType> VolumetricTypeMap;
 
                    public:
 
                        /**
                         * Creates a new room object.
                         * @param identifier The unique identifier of the object
                         * @param volumetricType The type of the volumetric object, must be valid
                         * @param confidence The confidence of the object, with range [0, 1], higher is better
                         * @param world_T_object The transformation between object and world, must be valid
                         * @param dimension The dimension of the object
                         */
                        inline VolumetricRoomObject(std::string&& identifier, const VolumetricType volumetricType, float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension);
 
                        /**
                         * Returns the volumetric type of this object.
                         * @return The object's volumetric type
                         */
                        inline VolumetricType volumetricType() const;
 
                        /**
                         * Translates the volumetric type to a readable string.
                         * @param volumetricType The volumetric type to translate
                         * @return The translated type
                         */
                        static std::string translateVolumetricType(const VolumetricType volumetricType);
 
                        /**
                         * Translates the readable string of a volumetric type to the corresponding value.
                         * @param volumetricType The volumetric type to translate
                         * @return The translated type
                         */
                        static VolumetricType translateVolumetricType(const std::string& volumetricType);
 
                    protected:
 
                        /// The volumetric type of this object.
                        VolumetricType volumetricType_ = VT_UNKNOWN;
                };
 
                /**
                 * Definition of a shared pointer holding a room object.
                 */
                typedef std::shared_ptr<RoomObject> SharedRoomObject;
 
                /**
                 * Definition of a shared pointer holding a planar room object.
                 */
                typedef std::shared_ptr<PlanarRoomObject> SharedPlanarRoomObject;
 
                /**
                 * Definition of a shared pointer holding a volumetric room object.
                 */
                typedef std::shared_ptr<VolumetricRoomObject> SharedVolumetricRoomObject;
 
                /**
                 * Definition of a vector holding room objects.
                 */
                typedef std::vector<SharedRoomObject> SharedRoomObjects;
 
                /**
                 * Definition of a vector holding planar room objects.
                 */
                typedef std::vector<SharedPlanarRoomObject> SharedPlanarRoomObjects;
 
                /**
                 * Definition of a vector holding volumetric room objects.
                 */
                typedef std::vector<SharedVolumetricRoomObject> SharedVolumetricRoomObjects;
 
                /**
                 * Definition of an unordered set holding object identifiers.
                 */
                typedef std::unordered_set<std::string> RoomObjectIdentifierSet;
 
                /**
                 * Definitio of an unordered map mapping object identifiers to room objects.
                 */
                typedef std::unordered_map<std::string, SharedRoomObject> RoomObjectMap;
 
            public:
 
                /**
                 * Creates a new scene element object with several given room objects.
                 * @param roomObjectMap The room objects of the new scene element, may be empty.
                 * @param addedRoomObjects The identifiers of all added room objects
                 * @param removedRoomObjects The identifiers of all removed room objects
                 * @param changedRoomObjects The identifiers of all changed room objects
                 * @param updatedRoomObjects The identifiers of all updated room objects
                 */
                explicit inline SceneElementRoom(RoomObjectMap&& roomObjectMap, RoomObjectIdentifierSet&& addedRoomObjects, RoomObjectIdentifierSet&& removedRoomObjects, RoomObjectIdentifierSet&& changedRoomObjects, RoomObjectIdentifierSet&& updatedRoomObjects);
 
                /**
                 * Returns all room objects of this scene element object, may be empty.
                 * @return The scene element's room objects
                 */
                inline const RoomObjectMap& roomObjectMap() const;
 
                /**
                 * Returns the identifiers of all room object which have been added.
                 * @return Added room objects
                 */
                inline const RoomObjectIdentifierSet& addedRoomObjects() const;
 
                /**
                 * Returns the identifiers of all room object which have been removed.
                 * @return Removed room objects
                 */
                inline const RoomObjectIdentifierSet& removedRoomObjects() const;
 
                /**
                 * Returns the identifiers of all room object which have been changed.
                 * @return Changed room objects
                 */
                inline const RoomObjectIdentifierSet& changedRoomObjects() const;
 
                /**
                 * Returns the identifiers of all room object which have been updated.
                 * @return Updated room objects
                 */
                inline const RoomObjectIdentifierSet& updatedRoomObjects() const;
 
            protected:
 
                /// The room objects in this scene element object.
                RoomObjectMap roomObjectMap_;
 
                /// The identifiers of all added room objects.
                RoomObjectIdentifierSet addedRoomObjects_;
 
                /// The identifiers of all removed room objects.
                RoomObjectIdentifierSet removedRoomObjects_;
 
                /// The identifiers of all changed room objects.
                RoomObjectIdentifierSet changedRoomObjects_;
 
                /// The identifiers of all changed room objects.
                RoomObjectIdentifierSet updatedRoomObjects_;
        };
 
        /**
         * Definition of a shared pointer holding a scene element.
         */
        typedef std::shared_ptr<SceneElement> SharedSceneElement;
 
        /**
         * Definition of a vector holding scene elements.
         */
        typedef std::vector<SharedSceneElement> SharedSceneElements;
 
        /**
         * Definition of a sample holding one single 6DOF tracker measurement.
         */
        class OCEAN_DEVICES_EXPORT SceneTracker6DOFSample : virtual public Tracker6DOFSample
        {
            public:
 
                /**
                 * Creates a new 6DOF tracker sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds Measurement unit object ids each id corresponds to a different orientation and position measurement
                 * @param orientations Sample orientation measurements
                 * @param positions Sample position measurements in meter
                 * @param sceneElements The scene elements of the new sample
                 * @param metadata Optional metadata of the new sample
                 */
                SceneTracker6DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Orientations& orientations, const Positions& positions, const SharedSceneElements& sceneElements, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new 6DOF tracker sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds Measurement unit object ids each id corresponds to a different orientation and position measurement
                 * @param orientations Sample orientation measurements
                 * @param positions Sample position measurements in meter
                 * @param sceneElements The scene elements of the new sample
                 * @param metadata Optional metadata of the new sample
                 */
                SceneTracker6DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Orientations&& orientations, Positions&& positions, SharedSceneElements&& sceneElements, Metadata&& metadata = Metadata());
 
                /**
                 * Returns the scene elements of this sample.
                 * Scene elements can be invalid in case a pure 6-DOF pose is provided.
                 * @return The sample's scene elements, some may be invalid
                 */
                inline const SharedSceneElements& sceneElements() const;
 
            protected:
 
                /// The scene elements.
                SharedSceneElements sceneElements_;
        };
 
        /**
         * Definition of a smart object reference for 6-DOF scene tracker samples.
         */
        typedef SmartObjectRef<SceneTracker6DOFSample, Sample> SceneTracker6DOFSampleRef;
 
    public:
 
        /**
         * Exports the determined scene elements.
         * @param format The format of the exported data
         * @param outputStream The output stream to which the data will be exported
         * @param options Optional options to configure the export result
         * @return True, if succeeded; False, if not supported
         */
        virtual bool exportSceneElements(const std::string& format, std::ostream& outputStream, const std::string& options = std::string()) const;
 
        /**
         * Definition of this device type.
         */
        static inline DeviceType deviceTypeSceneTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6-DOF scene tracker object.
         * @param name The name of the 6DOF tracker, must be valid
         */
        explicit SceneTracker6DOF(const std::string& name);
 
        /**
         * Destructs a 6-DOF tracker object.
         */
        ~SceneTracker6DOF() override;
};
 
inline SceneTracker6DOF::SceneElement::SceneElement(const SceneElementType sceneElementType) :
    sceneElementType_(sceneElementType)
{
    // nothing to do here
}
 
inline SceneTracker6DOF::SceneElement::SceneElementType SceneTracker6DOF::SceneElement::sceneElementType() const
{
    return sceneElementType_;
}
 
inline SceneTracker6DOF::SceneElementObjectPoints::SceneElementObjectPoints(Vectors3&& objectPoints, Indices64&& objectPointIds) :
    SceneElement(SET_OBJECT_POINTS),
    objectPoints_(std::move(objectPoints)),
    objectPointIds_(std::move(objectPointIds))
{
    ocean_assert(!objectPoints_.empty());
    ocean_assert(objectPointIds_.empty() || objectPointIds_.size() == objectPoints_.size());
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementObjectPoints::objectPoints() const
{
    ocean_assert(sceneElementType_ == SET_FEATURE_CORRESPONDENCES || sceneElementType_ == SET_OBJECT_POINTS);
    return objectPoints_;
}
 
inline const Indices64& SceneTracker6DOF::SceneElementObjectPoints::objectPointIds() const
{
    return objectPointIds_;
}
 
inline SceneTracker6DOF::SceneElementFeatureCorrespondences::SceneElementFeatureCorrespondences(Vectors3&& objectPoints, Vectors2&& imagePoints, Indices64&& objectPointIds) :
    SceneElement(SET_FEATURE_CORRESPONDENCES),
    objectPoints_(std::move(objectPoints)),
    imagePoints_(std::move(imagePoints)),
    objectPointIds_(std::move(objectPointIds))
{
    ocean_assert(!objectPoints_.empty());
    ocean_assert(imagePoints_.size() == objectPoints_.size());
 
    ocean_assert(objectPointIds_.empty() || objectPointIds_.size() == objectPoints_.size());
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementFeatureCorrespondences::objectPoints() const
{
    ocean_assert(sceneElementType_ == SET_FEATURE_CORRESPONDENCES || sceneElementType_ == SET_OBJECT_POINTS);
    return objectPoints_;
}
 
inline const Vectors2& SceneTracker6DOF::SceneElementFeatureCorrespondences::imagePoints() const
{
    ocean_assert(sceneElementType_ == SET_FEATURE_CORRESPONDENCES);
    return imagePoints_;
}
 
inline const Indices64& SceneTracker6DOF::SceneElementFeatureCorrespondences::objectPointIds() const
{
    return objectPointIds_;
}
 
inline SceneTracker6DOF::SceneElementPlanes::Plane::Plane(const Index32 planeId, const PlaneType planeType, const HomogenousMatrix4& world_T_plane, const Box3& boundingBox, Vectors3&& boundaryVertices) :
    planeId_(planeId),
    planeType_(planeType),
    world_T_plane_(world_T_plane),
    boundingBox_(std::move(boundingBox)),
    boundaryVertices_(std::move(boundaryVertices))
{
    ocean_assert(world_T_plane_.isValid());
    ocean_assert(boundingBox_.isValid());
}
 
inline SceneTracker6DOF::SceneElementPlanes::Plane::Plane(const Index32 planeId, const PlaneType planeType, const HomogenousMatrix4& world_T_plane, const Box3& boundingBox, Vectors3&& vertices, Vectors2&& textureCoordinates, Indices32&& triangleIndices, Vectors3&& boundaryVertices) :
    planeId_(planeId),
    planeType_(planeType),
    world_T_plane_(world_T_plane),
    boundingBox_(std::move(boundingBox)),
    vertices_(std::move(vertices)),
    textureCoordinates_(std::move(textureCoordinates)),
    triangleIndices_(std::move(triangleIndices)),
    boundaryVertices_(std::move(boundaryVertices))
{
    ocean_assert(world_T_plane_.isValid());
    ocean_assert(boundingBox_.isValid());
    ocean_assert(textureCoordinates.empty() || textureCoordinates.size() == vertices_.size());
    ocean_assert(triangleIndices.empty() || triangleIndices.size() % 3 == 0);
}
 
inline Index32 SceneTracker6DOF::SceneElementPlanes::Plane::planeId() const
{
    return planeId_;
}
 
inline SceneTracker6DOF::SceneElementPlanes::Plane::PlaneType SceneTracker6DOF::SceneElementPlanes::Plane::planeType() const
{
    return planeType_;
}
 
inline const HomogenousMatrix4& SceneTracker6DOF::SceneElementPlanes::Plane::world_T_plane() const
{
    ocean_assert(world_T_plane_.isValid());
    return world_T_plane_;
}
 
inline Plane3 SceneTracker6DOF::SceneElementPlanes::Plane::worldPlane() const
{
    ocean_assert(world_T_plane_.isValid());
 
    ocean_assert(world_T_plane_.yAxis().isUnit());
    return Plane3(world_T_plane_.translation(), world_T_plane_.yAxis());
}
 
inline const Box3& SceneTracker6DOF::SceneElementPlanes::Plane::boundingBox() const
{
    ocean_assert(boundingBox_.isValid());
    return boundingBox_;
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementPlanes::Plane::vertices() const
{
    return vertices_;
}
 
inline const Vectors2& SceneTracker6DOF::SceneElementPlanes::Plane::textureCoordinates() const
{
    return textureCoordinates_;
}
 
inline const Indices32& SceneTracker6DOF::SceneElementPlanes::Plane::triangleIndices() const
{
    return triangleIndices_;
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementPlanes::Plane::boundaryVertices() const
{
    return boundaryVertices_;
}
 
inline SceneTracker6DOF::SceneElementPlanes::SceneElementPlanes(Planes&& planes) :
    SceneElement(SET_PLANES),
    planes_(std::move(planes))
{
    ocean_assert(!planes_.empty());
}
 
inline const SceneTracker6DOF::SceneElementPlanes::Planes& SceneTracker6DOF::SceneElementPlanes::planes() const
{
    return planes_;
}
 
inline SceneTracker6DOF::SceneElementMeshes::Mesh::Mesh(const Index32 meshId, const HomogenousMatrix4& world_T_mesh, Vectors3&& vertices, Vectors3&& perVertexNormals, Indices32&& triangleIndices, FaceTypes&& faceTypes) :
    meshId_(meshId),
    world_T_mesh_(world_T_mesh),
    vertices_(std::move(vertices)),
    perVertexNormals_(std::move(perVertexNormals)),
    triangleIndices_(std::move(triangleIndices)),
    faceTypes_(std::move(faceTypes))
{
    ocean_assert(triangleIndices_.size() % 3 == 0);
    ocean_assert(vertices_.size() == perVertexNormals_.size());
 
    ocean_assert(faceTypes_.empty() || faceTypes_.size() == triangleIndices_.size() / 3);
}
 
inline Index32 SceneTracker6DOF::SceneElementMeshes::Mesh::meshId() const
{
    return meshId_;
}
 
inline const HomogenousMatrix4& SceneTracker6DOF::SceneElementMeshes::Mesh::world_T_mesh() const
{
    return world_T_mesh_;
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementMeshes::Mesh::vertices() const
{
    return vertices_;
}
 
inline const Vectors3& SceneTracker6DOF::SceneElementMeshes::Mesh::perVertexNormals() const
{
    return perVertexNormals_;
}
 
inline const Indices32& SceneTracker6DOF::SceneElementMeshes::Mesh::triangleIndices() const
{
    return triangleIndices_;
}
 
inline const SceneTracker6DOF::SceneElementMeshes::Mesh::FaceTypes& SceneTracker6DOF::SceneElementMeshes::Mesh::faceTypes() const
{
    return faceTypes_;
}
 
inline SceneTracker6DOF::SceneElementMeshes::SceneElementMeshes(SharedMeshes meshes) :
    SceneElement(SET_MESHES),
    meshes_(std::move(meshes))
{
    ocean_assert(!meshes_.empty());
}
 
inline const SceneTracker6DOF::SceneElementMeshes::SharedMeshes& SceneTracker6DOF::SceneElementMeshes::meshes() const
{
    return meshes_;
}
 
inline SceneTracker6DOF::SceneElementRoom::RoomObject::RoomObject(const ObjectType objectType, std::string&& identifier, const float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension) :
    objectType_(objectType),
    identifier_(std::move(identifier)),
    confidence_(confidence),
    world_T_object_(world_T_object),
    dimension_(dimension)
{
    ocean_assert(objectType != OT_UNDEFINED);
    ocean_assert(!identifier_.empty());
    ocean_assert(confidence >= 0.0f && confidence <= 1.0f);
    ocean_assert(world_T_object_.isValid());
}
 
inline SceneTracker6DOF::SceneElementRoom::RoomObject::ObjectType SceneTracker6DOF::SceneElementRoom::RoomObject::objectType() const
{
    return objectType_;
}
 
inline const std::string& SceneTracker6DOF::SceneElementRoom::RoomObject::identifier() const
{
    return identifier_;
}
 
inline float SceneTracker6DOF::SceneElementRoom::RoomObject::confidence() const
{
    return confidence_;
}
 
inline const HomogenousMatrix4& SceneTracker6DOF::SceneElementRoom::RoomObject::world_T_object() const
{
    return world_T_object_;
}
 
inline void SceneTracker6DOF::SceneElementRoom::RoomObject::setWorld_T_object(const HomogenousMatrix4& world_T_object)
{
    ocean_assert(world_T_object.isValid());
    world_T_object_ = world_T_object;
}
 
inline const Vector3& SceneTracker6DOF::SceneElementRoom::RoomObject::dimension() const
{
    return dimension_;
}
 
inline SceneTracker6DOF::SceneElementRoom::PlanarRoomObject::PlanarRoomObject(std::string&& identifier, const PlanarType planarType, const float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension) :
    RoomObject(OT_PLANAR, std::move(identifier), confidence, world_T_object, dimension),
    planarType_(planarType)
{
    ocean_assert(planarType_ != PT_UNKNOWN);
}
 
inline SceneTracker6DOF::SceneElementRoom::PlanarRoomObject::PlanarType SceneTracker6DOF::SceneElementRoom::PlanarRoomObject::planarType() const
{
    return planarType_;
}
 
inline SceneTracker6DOF::SceneElementRoom::VolumetricRoomObject::VolumetricRoomObject(std::string&& identifier, const VolumetricType volumetricType, const float confidence, const HomogenousMatrix4& world_T_object, const Vector3& dimension) :
    RoomObject(OT_VOLUMETRIC, std::move(identifier), confidence, world_T_object, dimension),
    volumetricType_(volumetricType)
{
    ocean_assert(volumetricType_ != VT_UNKNOWN);
}
 
inline SceneTracker6DOF::SceneElementRoom::VolumetricRoomObject::VolumetricType SceneTracker6DOF::SceneElementRoom::VolumetricRoomObject::volumetricType() const
{
    return volumetricType_;
}
 
inline SceneTracker6DOF::SceneElementRoom::SceneElementRoom(RoomObjectMap&& roomObjectMap, RoomObjectIdentifierSet&& addedRoomObjects, RoomObjectIdentifierSet&& removedRoomObjects, RoomObjectIdentifierSet&& changedRoomObjects, RoomObjectIdentifierSet&& updatedRoomObjects) :
    SceneElement(SET_ROOM),
    roomObjectMap_(std::move(roomObjectMap)),
    addedRoomObjects_(std::move(addedRoomObjects)),
    removedRoomObjects_(std::move(removedRoomObjects)),
    changedRoomObjects_(std::move(changedRoomObjects)),
    updatedRoomObjects_(std::move(updatedRoomObjects))
{
    // nothing to do here
}
 
inline const SceneTracker6DOF::SceneElementRoom::RoomObjectMap& SceneTracker6DOF::SceneElementRoom::roomObjectMap() const
{
    return roomObjectMap_;
}
 
inline const SceneTracker6DOF::SceneElementRoom::RoomObjectIdentifierSet& SceneTracker6DOF::SceneElementRoom::addedRoomObjects() const
{
    return addedRoomObjects_;
}
 
inline const SceneTracker6DOF::SceneElementRoom::RoomObjectIdentifierSet& SceneTracker6DOF::SceneElementRoom::removedRoomObjects() const
{
    return removedRoomObjects_;
}
 
inline const SceneTracker6DOF::SceneElementRoom::RoomObjectIdentifierSet& SceneTracker6DOF::SceneElementRoom::changedRoomObjects() const
{
    return changedRoomObjects_;
}
 
inline const SceneTracker6DOF::SceneElementRoom::RoomObjectIdentifierSet& SceneTracker6DOF::SceneElementRoom::updatedRoomObjects() const
{
    return updatedRoomObjects_;
}
 
inline SceneTracker6DOF::SceneElementDepth::SceneElementDepth(SharedAnyCamera camera, const HomogenousMatrix4& device_T_depth, std::shared_ptr<Frame> depth, std::shared_ptr<Frame> confidence) :
    SceneElement(SET_DEPTH),
    camera_(std::move(camera)),
    device_T_depth_(device_T_depth),
    depth_(std::move(depth)),
    confidence_(std::move(confidence))
{
    ocean_assert(camera_ && depth_ && device_T_depth_.isValid());
}
 
inline SharedAnyCamera SceneTracker6DOF::SceneElementDepth::camera() const
{
    ocean_assert(camera_);
    return camera_;
}
 
inline const HomogenousMatrix4& SceneTracker6DOF::SceneElementDepth::device_T_depth() const
{
    ocean_assert(device_T_depth_.isValid());
    return device_T_depth_;
}
 
inline std::shared_ptr<Frame> SceneTracker6DOF::SceneElementDepth::depth(std::shared_ptr<Frame>* confidence) const
{
    if (confidence != nullptr)
    {
        *confidence = confidence_;
    }
 
    ocean_assert(depth_);
    return depth_;
}
 
inline const SceneTracker6DOF::SharedSceneElements& SceneTracker6DOF::SceneTracker6DOFSample::sceneElements() const
{
    return sceneElements_;
}
 
inline SceneTracker6DOF::DeviceType SceneTracker6DOF::deviceTypeSceneTracker6DOF()
{
    return Device::DeviceType(DEVICE_TRACKER, SCENE_TRACKER_6DOF);
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_SCENE_TRACKER_6DOF_H