devices/pattern/PatternTracker6DOF.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_PATTERN_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_PATTERN_TRACKER_6DOF_H
 
#include "ocean/devices/pattern/Pattern.h"
#include "ocean/devices/pattern/PatternDevice.h"
 
#include "ocean/base/Thread.h"
 
#include "ocean/devices/ObjectTracker.h"
#include "ocean/devices/OrientationTracker3DOF.h"
#include "ocean/devices/Tracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/geometry/Geometry.h"
 
#include "ocean/tracking/pattern/PatternTracker6DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace Pattern
{
 
/**
 * This class implements a Pattern feature-based tracker.
 * @ingroup devicespattern
 */
class OCEAN_DEVICES_PATTERN_EXPORT PatternTracker6DOF :
    virtual public PatternDevice,
    virtual public Tracker6DOF,
    virtual public ObjectTracker,
    virtual public VisualTracker,
    protected Thread
{
    friend class PatternFactory;
 
    public:
 
        /**
         * Adds a new tracking pattern.
         * For this pattern feature based tracker the pattern must be the url of an image.
         * @see ObjectTracker::registerObject().
         */
        ObjectId registerObject(const std::string& description, const Vector3& dimension) override;
 
        /**
         * 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;
 
        /**
         * Returns whether a specific object is currently actively tracked by this tracker.
         * @see Tracker::isObjectTracked().
         */
        bool isObjectTracked(const ObjectId& objectId) const override;
 
        /**
         * Sets a parameter  for this tracker.
         * Supprted parameters 'noFrameToFrameTracking', 'noDownsamplingOnAndroid'.
         * @see Device::setParameter().
         */
        bool setParameter(const std::string& parameter, const Value& value) override;
 
        /**
         * Returns a parameter of this device.
         * Supprted parameters 'noFrameToFrameTracking', 'noDownsamplingOnAndroid'.
         * @see Device::parameter().
         */
        bool parameter(const std::string& parameter, Value& value) override;
 
        /**
         * Returns the name of this tracker.
         * @return Tracker name
         */
        static inline std::string deviceNamePatternTracker6DOF();
 
        /**
         * Returns the type of this tracker.
         * @return Tracker type
         */
        static inline DeviceType deviceTypePatternTracker6DOF();
 
    private:
 
        /**
         * Creates a new Pattern feature based 6DOF tracker object.
         */
        PatternTracker6DOF();
 
        /**
         * Destructs an Pattern feature based 6DOF tracker object.
         */
        ~PatternTracker6DOF() override;
 
        /**
         * Ensures that the tracker exists, if the tracker does not yet exist, it will be created.
         */
        void ensureTrackerExists();
 
        /**
         * Thread function.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
    private:
 
        /// Frame timestamp.
        Timestamp frameTimestamp_;
 
        /// Holds the 6DOF tracker object.
        Tracking::VisualTrackerRef visualTracker_;
 
        /// Set holding all visible marker from the most recent frame.
        ObjectIdSet visiblePatterns_;
 
        /// The 3DOF orientation tracker which is used to support the tracker.
        OrientationTracker3DOFRef orientationTracker3DOF_;
 
        /// The mapper between internal and external object ids.
        ObjectMapper<unsigned int> objectIdMapper_;
 
        /// True, to skip frame-to-frame tracking.
        bool noFrameToFrameTracking_ = false;
 
        /// True, to avoid downsampling the input image on Android devices.
        bool noDownsamplingOnAndroid_ = false;
};
 
inline std::string PatternTracker6DOF::deviceNamePatternTracker6DOF()
{
    return std::string("Pattern 6DOF Tracker");
}
 
inline PatternTracker6DOF::DeviceType PatternTracker6DOF::deviceTypePatternTracker6DOF()
{
    return PatternTracker6DOF::DeviceType(PatternTracker6DOF::deviceTypeTracker6DOF(), TRACKER_VISUAL | TRACKER_OBJECT);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_PATTERN_TRACKER_6DOF_H