This class implements the 6DOF face tracker providing only the head pose. More...

#include <AKFaceTracker6DOF.h>

Inheritance diagram for Ocean::Devices::ARKit::AKFaceTracker6DOF:

Public Member Functions
bool	start () override
	Starts the device.

bool	pause () override
	Pauses the device.

bool	stop () override
	Stops the device.

void	setInput (Media::FrameMediumRefs &&frameMediums) override
	Sets the multi-view visual input of this tracker.

bool	isObjectTracked (const ObjectId &objectId) const override
	Returns whether a specific object is currently actively tracked by this tracker.

	API_AVAILABLE (ios(13.0)) void onNewSample(const HomogenousMatrix4 &world_T_camera
	Event function for a new 6DOF pose.

Public Member Functions inherited from Ocean::Devices::ARKit::AKDevice
const std::string &	library () const override
	Returns the name of the owner library.

TrackerCapabilities	trackerCapabilities () const
	Returns the capabilities of the tracker necessary for this device.

virtual void	onAddedAnchors (const ARAnchors &anchors)
	Event function for added anchors.

virtual void	onUpdateAnchors (const ARAnchors &anchors)
	Event function for updated anchors.

virtual void	onRemovedAnchors (const ARAnchors &anchors)
	Event function for removed anchors.

bool	setParameter (const std::string &parameter, const Value &value) override
	Sets a parameter for this tracker.

bool	parameter (const std::string &parameter, Value &value) override
	Returns a parameter of this device.

Public Member Functions inherited from Ocean::Devices::Device
const std::string &	name () const
	Returns the name of this device.

virtual bool	isStarted () const
	Returns whether this device is active.

bool	isValid () const
	Returns whether this device is valid.

bool	isExclusive () const
	Returns whether this device can be use exclusively.

DeviceType	type () const
	Returns the major and minor type of this device.

Public Member Functions inherited from Ocean::Devices::Tracker
virtual Frequency	frequency () const
	Returns the frequency of this tracker.

TrackerObjectEventSubscription	subscribeTrackerObjectEvent (TrackerObjectCallback &&callback)
	Subscribes a callback event function for tracker object (found or lost) events.

virtual HomogenousMatrixD4	reference () const
	Returns the reference coordinate system of this tracker.

Public Member Functions inherited from Ocean::Devices::Measurement
size_t	sampleCapacity () const
	Returns the capacity of the internal sample container.

bool	setSampleCapacity (const size_t capacity)
	Sets the capacity of the internal sample container.

virtual SampleRef	sample () const
	Returns the most recent sample.

virtual SampleRef	sample (const Timestamp timestamp) const
	Returns the sample with a specific timestamp.

virtual SampleRef	sample (const Timestamp &timestamp, const InterpolationStrategy interpolationStrategy) const
	Returns the sample best matching with a specified timestamp.

SampleEventSubscription	subscribeSampleEvent (SampleCallback &&callback)
	Subscribes a callback event function for new measurement sample events.

ObjectId	objectId (const std::string &description) const
	Returns the object id for an object description.

Strings	objectDescriptions () const
	Returns descriptions of all objects currently available.

std::string	objectDescription (const ObjectId objectId) const
	Returns the description of one object of this measurement.

Public Member Functions inherited from Ocean::Devices::VisualTracker
Media::FrameMediumRefs	input () const
	Returns the medium objects of this tracker used as visual input.

void	setInput (const Media::FrameMediumRef &frameMedium)
	Sets the mono visual input of this tracker.

Static Public Member Functions
static std::string	deviceNameAKFaceTracker6DOF ()
	Returns the name of this tracker.

static DeviceType	deviceTypeAKFaceTracker6DOF ()
	Returns the device type of this tracker.

Static Public Member Functions inherited from Ocean::Devices::ARKit::AKDevice
static std::string	translateTrackingState (const ARTrackingState &state)
	Translates the value of an ARTrackingState to a readable string.

Static Public Member Functions inherited from Ocean::Devices::Device
static std::string	translateMajorType (const MajorType majorType)
	Translates the major devices type to a readable string.

static MajorType	translateMajorType (const std::string &majorType)
	Translates the major devices type from a readable string to a value.

Static Public Member Functions inherited from Ocean::Devices::Tracker6DOF
static DeviceType	deviceTypeTracker6DOF ()
	Definition of this device type.

Static Public Member Functions inherited from Ocean::Devices::OrientationTracker3DOF
static DeviceType	deviceTypeOrientationTracker3DOF ()
	Return the device type of this tracker.

Static Public Member Functions inherited from Ocean::Devices::Tracker
static std::string	translateTrackerType (const TrackerType trackerType)
	Translates the tracker type to a readable string.

static TrackerType	translateTrackerType (const std::string &trackerType)
	Translates the tracker type from a readable string to a value.

static constexpr Frequency	unknownFrequency ()
	Definition of a constant as unknown frequency.

Static Public Member Functions inherited from Ocean::Devices::Measurement
static constexpr ObjectId	invalidObjectId ()
	Returns an invalid object id.

Static Public Member Functions inherited from Ocean::Devices::PositionTracker3DOF
static DeviceType	deviceTypePositionTracker3DOF ()
	Returns the device type of this tracker.

Data Fields
const Timestamp &	timestamp

const Timestamp ARFrame *	arFrame

Protected Member Functions
	AKFaceTracker6DOF ()
	Creates a new 6DOF face tracker.

	~AKFaceTracker6DOF () override
	Destructs this 6DOF tracker.

Protected Member Functions inherited from Ocean::Devices::ARKit::AKDevice
	AKDevice (const TrackerCapabilities trackerCapabilities, const std::string &name, const DeviceType type)
	Translates the value of an ARGeoTrackingState to a readable string.

Protected Member Functions inherited from Ocean::Devices::Device
	Device (const Device &device)=delete
	Disabled copy constructor.

	Device (const std::string &name, const DeviceType type)
	Creates a new device by is name.

virtual	~Device ()
	Destructs a device.

Device &	operator= (const Device &device)=delete
	Disabled copy operator.

Protected Member Functions inherited from Ocean::Devices::Tracker6DOF
	Tracker6DOF (const std::string &name)
	Creates a new 6DOF tracker object.

	~Tracker6DOF () override
	Destructs a 6DOF tracker object.

Protected Member Functions inherited from Ocean::Devices::OrientationTracker3DOF
	OrientationTracker3DOF (const std::string &name)
	Creates a new 3DOF orientation tracker object.

	~OrientationTracker3DOF () override
	Destructs a 3DOF orientation tracker.

Protected Member Functions inherited from Ocean::Devices::Tracker
	Tracker (const std::string &name, const DeviceType type)
	Creates a new tracker object.

	~Tracker () override
	Destructs a tracker object.

void	postFoundTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new found tracker objects event.

void	postLostTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new lost tracker objects event.

void	unsubscribeTrackerObjectEvent (const SubscriptionId subscriptionId)
	Unsubscribes a tracker object event callback function.

Protected Member Functions inherited from Ocean::Devices::Measurement
	Measurement (const std::string &name, const DeviceType type)
	Creates a new measurement object.

	~Measurement () override
	Destructs a measurement object.

void	postNewSample (const SampleRef &newSample)
	Posts a new measurement sample.

ObjectId	addUniqueObjectId (const std::string &description)
	Creates a unique object id for a new object (e.g., a tracking object like an image, a marker, or a location).

void	unsubscribeSampleEvent (const SubscriptionId subscriptionId)
	Unsubscribes a sample event callback function.

Protected Member Functions inherited from Ocean::Devices::PositionTracker3DOF
	PositionTracker3DOF (const std::string &name)
	Creates a new 3DOF position tracker object.

	~PositionTracker3DOF () override
	Destructs a 3DOF position tracker object.

Protected Member Functions inherited from Ocean::Devices::VisualTracker
	VisualTracker (const std::string &name, const DeviceType type)
	Creates a new visual tracker object.

	~VisualTracker () override
	Destructs a visual tracker object.

Protected Attributes
ObjectId	faceObjectId_ = invalidObjectId()
	The unique id for the face object.

bool	isStarted_ = false
	True, if the tracker has been started.

bool	faceIsTracked_ = false
	True, if the face object is currently tracked.

Protected Attributes inherited from Ocean::Devices::ARKit::AKDevice
TrackerCapabilities	trackerCapabilities_ = TC_INVALID
	The capabilities of the tracker for this device.

ParameterMap	parameterMap_
	The map with optional parameters.

Protected Attributes inherited from Ocean::Devices::Device
std::string	deviceName
	Name of this device.

DeviceType	deviceType
	Major and minor type of this device.

bool	deviceIsValid
	Flag determining whether this device is valid.

Lock	deviceLock
	Device lock.

Protected Attributes inherited from Ocean::Devices::Tracker
TrackerObjectSubscriptionMap	trackerObjectSubscriptionMap_
	Map holding all tracker object event subscriptions.

SubscriptionId	nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)
	The subscription id of the next event subscription.

Protected Attributes inherited from Ocean::Devices::Measurement
Lock	samplesLock_
	Sample lock.

Lock	subscriptionLock_
	Subscription lock.

Protected Attributes inherited from Ocean::Devices::VisualTracker
Media::FrameMediumRefs	frameMediums_
	Visual input media objects.

Friends
class	AKFactory

Additional Inherited Members
Public Types inherited from Ocean::Devices::ARKit::AKDevice
enum	TrackerCapabilities : uint32_t { TC_INVALID = 0u , TC_SLAM = 1u << 0u , TC_GEO_ANCHORS = 1u << 1u , TC_PLANE_DETECTION = 1u << 2u , TC_MESH_RECONSTRUCTION = 1u << 3u , TC_DEPTH = 1u << 4u , TC_FACE = 1u << 5u }
	Definition of individual capabilities. More...

using	ARAnchors = std::vector< ARAnchor * >
	Definition of a vector holding ARAnchors.

using	DeviceMap = std::unordered_map< AKDevice *, unsigned int >
	Definition of an unordered map mapping devices to usage counters.

Public Types inherited from Ocean::Devices::Device
enum	MajorType : uint32_t { DEVICE_INVALID = 0u , DEVICE_MEASUREMENT = (1u << 0u) , DEVICE_SENSOR = (1u << 1u) \| DEVICE_MEASUREMENT , DEVICE_TRACKER = (1u << 2u) \| DEVICE_MEASUREMENT }
	Definition of all major device types. More...

enum	MinorType : uint32_t { MINOR_INVALID = 0u }
	Base definition of a minor type. More...

Public Types inherited from Ocean::Devices::Tracker6DOF
typedef SmartObjectRef< Tracker6DOFSample, Sample >	Tracker6DOFSampleRef
	Definition of a smart object reference for 6DOF tracker samples.

Public Types inherited from Ocean::Devices::OrientationTracker3DOF
typedef SmartObjectRef< OrientationTracker3DOFSample, Sample >	OrientationTracker3DOFSampleRef
	Definition of a smart object reference for 3DOF orientation tracker samples.

Public Types inherited from Ocean::Devices::Tracker
enum	TrackerType : uint32_t { TRACKER_INVALID = MINOR_INVALID , TRACKER_ORIENTATION_3DOF = (1u << 0u) , TRACKER_POSITION_3DOF = (1u << 1u) , TRACKER_6DOF = TRACKER_ORIENTATION_3DOF \| TRACKER_POSITION_3DOF , SCENE_TRACKER_6DOF = (1u << 2u) \| TRACKER_6DOF , TRACKER_GPS = (1u << 3u) , TRACKER_MAGNETIC = (1u << 4u) , TRACKER_VISUAL = (1u << 5u) , TRACKER_OBJECT = (1u << 6u) }
	Definition of different minor device types. More...

enum	ReferenceSystem { RS_OBJECT_IN_DEVICE , RS_DEVICE_IN_OBJECT }
	Definition of different tracking reference system. More...

typedef float	Frequency
	Definition of a tracker frequency in Hz.

typedef SmartObjectRef< TrackerSample, Sample >	TrackerSampleRef
	Definition of a smart object reference for tracker samples.

typedef Callback< void, const Tracker *, const bool, const ObjectIdSet &, const Timestamp & >	TrackerObjectCallback
	Definition of a callback function to subscribe for lost and found tracker events.

Public Types inherited from Ocean::Devices::Measurement
enum	InterpolationStrategy { IS_INVALID , IS_TIMESTAMP_NEAREST , IS_TIMESTAMP_INTERPOLATE }
	Definition of individual interpolation strategies for samples. More...

typedef unsigned int	ObjectId
	Definition of an object id.

typedef std::vector< ObjectId >	ObjectIds
	Definition of a vector holding object ids.

typedef std::unordered_set< ObjectId >	ObjectIdSet
	Definition of an unordered set holding object ids.

typedef std::unordered_map< std::string, Value >	Metadata
	Definition of an unordered map mapping keys to values.

typedef ObjectRef< Sample >	SampleRef
	Definition of an object reference for samples.

typedef Callback< void, const Measurement *, const SampleRef & >	SampleCallback
	Definition of a callback function to subscribe for new measurement sample events.

Public Types inherited from Ocean::Devices::PositionTracker3DOF
typedef SmartObjectRef< PositionTracker3DOFSample, Sample >	PositionTracker3DOFSampleRef
	Definition of a smart object reference for 3DOF position tracker samples.

Protected Types inherited from Ocean::Devices::ARKit::AKDevice
using	ParameterMap = std::unordered_map< std::string, Value >
	Definition of an unordered map mapping names to values.

Protected Types inherited from Ocean::Devices::Device
typedef unsigned int	SubscriptionId
	Definition of a subscription id for event callbacks.

Protected Types inherited from Ocean::Devices::Tracker
typedef std::unordered_map< SubscriptionId, TrackerObjectCallback >	TrackerObjectSubscriptionMap
	Definition of a map mapping subscription ids to tracker object event callback functions.

Protected Types inherited from Ocean::Devices::Measurement
typedef std::map< Timestamp, SampleRef >	SampleMap
	Definition of a map holding the most recent samples.

typedef std::unordered_map< std::string, ObjectId >	ObjectDescriptionToIdMap
	Definition of an unordered map mapping descriptions to unique object ids.

typedef std::unordered_map< ObjectId, std::string >	ObjectIdToDescriptionMap
	Definition of an unordered map mapping unique object ids to descriptions.

typedef std::unordered_map< SubscriptionId, SampleCallback >	SampleSubscriptionMap
	Definition of a map mapping subscription ids to event sample callback functions.

Static Protected Member Functions inherited from Ocean::Devices::Device
static constexpr SubscriptionId	invalidSubscriptionId ()
	Returns an invalid subscription id.

Static Protected Member Functions inherited from Ocean::Devices::Tracker
static ObjectIdSet	determineFoundObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

static ObjectIdSet	determineLostObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Detailed Description

This class implements the 6DOF face tracker providing only the head pose.

ARKit's face tracker can combine SLAM/World tracker. Face tracking is always executed on the user-facing camera while the back-facing camera is used for SLAM/World tracking.
Therefore, the input medium should always be the back-facing camera instead of the user-facing camera.

Constructor & Destructor Documentation

◆ AKFaceTracker6DOF()

Ocean::Devices::ARKit::AKFaceTracker6DOF::AKFaceTracker6DOF ( )

explicitprotected

Creates a new 6DOF face tracker.

◆ ~AKFaceTracker6DOF()

Ocean::Devices::ARKit::AKFaceTracker6DOF::~AKFaceTracker6DOF ( )

overrideprotected

Destructs this 6DOF tracker.

Member Function Documentation

◆ API_AVAILABLE()

Ocean::Devices::ARKit::AKFaceTracker6DOF::API_AVAILABLE ( ios(13.0) ) const &

Event function for a new 6DOF pose.

Parameters

world_T_camera	The transformation between camera and world, invalid if unknown/lost
timestamp	The timestamp of the new transformation
arFrame	The current ARFRame object containing additional data for the sample, must be valid

◆ deviceNameAKFaceTracker6DOF()

std::string Ocean::Devices::ARKit::AKFaceTracker6DOF::deviceNameAKFaceTracker6DOF ( )

inlinestatic

Returns the name of this tracker.

Returns: The trackers's name

◆ deviceTypeAKFaceTracker6DOF()

AKFaceTracker6DOF::DeviceType Ocean::Devices::ARKit::AKFaceTracker6DOF::deviceTypeAKFaceTracker6DOF ( )

inlinestatic

Returns the device type of this tracker.

Returns: The tracker's device type

◆ isObjectTracked()

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::isObjectTracked ( const ObjectId & objectId ) const

overridevirtual

Returns whether a specific object is currently actively tracked by this tracker.

See also: Tracker::isObjectTracked().

Reimplemented from Ocean::Devices::Tracker.

◆ pause()

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::pause ( )

overridevirtual

Pauses the device.

See also: Device::pause().

Reimplemented from Ocean::Devices::Device.

◆ setInput()

void Ocean::Devices::ARKit::AKFaceTracker6DOF::setInput ( Media::FrameMediumRefs && frameMediums )

overridevirtual

Sets the multi-view visual input of this tracker.

See also: VisualTracker::setInput().

Reimplemented from Ocean::Devices::VisualTracker.

◆ start()

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::start ( )

overridevirtual

Starts the device.

See also: Device::start().

Reimplemented from Ocean::Devices::Device.

◆ stop()

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::stop ( )

overridevirtual

Stops the device.

See also: Device::stop().

Reimplemented from Ocean::Devices::Device.

Friends And Related Symbol Documentation

◆ AKFactory

friend class AKFactory

friend

Field Documentation

◆ arFrame

const Timestamp ARFrame* Ocean::Devices::ARKit::AKFaceTracker6DOF::arFrame

◆ faceIsTracked_

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::faceIsTracked_ = false

protected

True, if the face object is currently tracked.

◆ faceObjectId_

ObjectId Ocean::Devices::ARKit::AKFaceTracker6DOF::faceObjectId_ = invalidObjectId()

protected

The unique id for the face object.

◆ isStarted_

bool Ocean::Devices::ARKit::AKFaceTracker6DOF::isStarted_ = false

protected

True, if the tracker has been started.

◆ timestamp

const Timestamp& Ocean::Devices::ARKit::AKFaceTracker6DOF::timestamp

The documentation for this class was generated from the following file:

AKFaceTracker6DOF.h

Public Member Functions

Static Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AKFaceTracker6DOF()

◆ ~AKFaceTracker6DOF()

Member Function Documentation

◆ API_AVAILABLE()

◆ deviceNameAKFaceTracker6DOF()

◆ deviceTypeAKFaceTracker6DOF()

◆ isObjectTracked()

◆ pause()

◆ setInput()

◆ start()

◆ stop()

Friends And Related Symbol Documentation

◆ AKFactory

Field Documentation

◆ arFrame

◆ faceIsTracked_

◆ faceObjectId_

◆ isStarted_

◆ timestamp