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42 lines
1.5 KiB
42 lines
1.5 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License"){}
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ScreenHeadFusion.h"
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namespace android {
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namespace media {
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void ScreenHeadFusion::setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead) {
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mWorldToHead = TimestampedPose{.timestamp = timestamp, .pose = worldToHead};
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}
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void ScreenHeadFusion::setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen) {
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mWorldToScreen = TimestampedPose{.timestamp = timestamp, .pose = worldToScreen};
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}
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std::optional<ScreenHeadFusion::TimestampedPose> ScreenHeadFusion::calculate() {
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// TODO: this is temporary, simplistic logic.
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if (!mWorldToHead.has_value() || !mWorldToScreen.has_value()) {
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return std::nullopt;
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}
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return TimestampedPose{
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.timestamp = std::min(mWorldToHead->timestamp, mWorldToScreen->timestamp),
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.pose = mWorldToScreen->pose.inverse() * mWorldToHead->pose};
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}
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} // namespace media
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} // namespace android
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