devices/VisualTracker.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_VISUAL_TRACKER_H
#define META_OCEAN_DEVICES_VISUAL_TRACKER_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/DeviceRef.h"
#include "ocean/devices/Tracker.h"
 
#include "ocean/media/FrameMedium.h"
#include "ocean/media/MediumRef.h"
 
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class VisualTracker;
 
/**
 * Definition of a smart object reference for a visual tracker.
 * @see VisualTracker.
 * @ingroup devices
 */
typedef SmartDeviceRef<VisualTracker> VisualTrackerRef;
 
/**
 * This class is the base class for all tracker using visual input to create the tracking results.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT VisualTracker : virtual public Tracker
{
    public:
 
        /**
         * Returns the medium objects of this tracker used as visual input.
         * The majority of tracker will be based on mono camera inputs, while some tracker may use stereo or multi-view vision.
         * @return Visual input media object
         */
        inline Media::FrameMediumRefs input() const;
 
        /**
         * Sets the mono visual input of this tracker.
         * @param frameMedium The visual input medium object to set
         */
        inline void setInput(const Media::FrameMediumRef& frameMedium);
 
        /**
         * Sets the multi-view visual input of this tracker.
         * @param frameMediums The visual input medium objects to set
         */
        virtual void setInput(Media::FrameMediumRefs&& frameMediums);
 
    protected:
 
        /**
         * Creates a new visual tracker object.
         * @param name The name of the tracker
         * @param type Major and minor device type of the device
         */
        VisualTracker(const std::string& name, const DeviceType type);
 
        /**
         * Destructs a visual tracker object.
         */
        ~VisualTracker() override;
 
    protected:
 
        /// Visual input media objects.
        Media::FrameMediumRefs frameMediums_;
};
 
inline Media::FrameMediumRefs VisualTracker::input() const
{
    const ScopedLock scopedLock(deviceLock);
 
    return frameMediums_;
}
 
inline void VisualTracker::setInput(const Media::FrameMediumRef& frameMedium)
{
    setInput(Media::FrameMediumRefs(1, frameMedium));
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_VISUAL_TRACKER_H