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67 lines
1.9 KiB
67 lines
1.9 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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#pragma once
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#include <optional>
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#include "media/Pose.h"
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namespace android {
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namespace media {
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/**
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* Combines world-to-head pose with world-to-screen pose to obtain screen-to-head.
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*
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* Input poses may arrive separately. The last pose of each kind is taken into account. The
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* timestamp of the output is the ealier (older) timestamp of the two inputs.
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*
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* Output may be nullopt in the following cases:
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* - Either one of the inputs has not yet been provided.
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* - It is estimated that the user is no longer facing the screen.
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*
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* Typical usage:
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*
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* ScreenHeadFusion fusion(...);
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* fusion.setWorldToHeadPose(...);
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* fusion.setWorldToScreenPose(...);
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* auto output = fusion.calculate();
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*
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* This class is not thread-safe, but thread-compatible.
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*/
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class ScreenHeadFusion {
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public:
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struct TimestampedPose {
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int64_t timestamp;
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Pose3f pose;
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};
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void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead);
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void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen);
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/**
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* Returns the screen-to-head pose, or nullopt if invalid.
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*/
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std::optional<TimestampedPose> calculate();
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private:
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std::optional<TimestampedPose> mWorldToHead;
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std::optional<TimestampedPose> mWorldToScreen;
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};
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} // namespace media
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} // namespace android
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