tracking_interface.hpp

/****************************************************************************
 *
 * Copyright 2024 Auterion AG. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/auterion.hpp>
#include <auterion_sdk/camera/camera.hpp>
#include <auterion_sdk/tracking/common.hpp>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
#include <optional>
 
namespace auterion {
class TrackingInterfaceImpl;
 
class TrackingInterface {
   public:
    using ImageCallback = std::function<void(const auterion::Image& image)>;
    using CameraInfoCallback =
        std::function<void(const sensor_msgs::msg::CameraInfo::SharedPtr& camera_info)>;
    using TrackSelectionCallback = std::function<void(const TrackingSelection& selection)>;
    using TrackStopCallback = std::function<void(void)>;
    using TrackZoomChangeCallback = std::function<void(const int change)>;
    using TrackAdjustmentCallback = std::function<void(const TrackingAdjustment& adjustment)>;
 
    // Deprecated alias for backwards compatibility
    using TrackingKeyControl
        [[deprecated("TrackingKeyControl has been renamed. Please use TrackingAdjustment.")]] =
            TrackingAdjustment;
    using TrackKeyControlCallback [[deprecated(
        "TrackKeyControlCallback has been renamed. Please use TrackAdjustmentCallback.")]] =
        TrackAdjustmentCallback;
 
    TrackingInterface(auterion::SDK& sdk, std::shared_ptr<auterion::Camera> camera = nullptr);
 
    [[deprecated(
        "'camera_descriptor' not used anymore. This will be removed in some later "
        "release.")]] TrackingInterface(auterion::SDK& sdk,
                                        std::optional<auterion::CameraDescriptor>
                                            camera_descriptor);
 
    ~TrackingInterface();
 
    [[deprecated(
        "Replace by equal function in camera interface. This will be removed in some later "
        "release.")]] void
    subscribeImage(const ImageCallback& callback);
 
    [[deprecated(
        "Replace by equal function in camera interface. This will be removed in some later "
        "release.")]] void
    subscribeCameraInfo(const CameraInfoCallback& callback);
 
    void subscribeTrackingSelection(const TrackSelectionCallback& callback);
 
    void subscribeTrackingOff(const TrackStopCallback& callback);
 
    void subscribeTrackingZoomChange(const TrackZoomChangeCallback& callback);
 
    void subscribeTrackingAdjustment(const TrackAdjustmentCallback& callback);
 
    [[deprecated(
        "subscribeKeyControl has been renamed. Please use subscribeTrackingAdjustment.")]] void
    subscribeKeyControl(const TrackKeyControlCallback& callback) {
        subscribeTrackingAdjustment(callback);
    }
 
    void updateImage(const cv::Mat& image, const auterion::ImageHeader::Encoding& encoding,
                     const std::optional<cv::Rect>& displayed_region = std::nullopt,
                     const std::optional<TrackingResult>& tracking_result = std::nullopt);
 
    void updateImage(const cv::Mat& image, const auterion::ImageHeader::Encoding& encoding,
                     const TrackingResult& tracking_result);
 
    // TODO create an overload with plain/simple types?
    void updateResult(TrackingResult& tracking_result) const;
 
    [[deprecated(
        "Replace by equal function in camera interface. This will be removed in some later "
        "release.")]] bool
    getPoseBodyCamera(Eigen::Vector3d& t_body_camera, Eigen::Quaterniond& q_body_camera) const;
 
   private:
    std::shared_ptr<TrackingInterfaceImpl> _impl;
};
 
}  // namespace auterion