tracking_interface.hpp

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#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/auterion.hpp>
#include <auterion_sdk/camera/camera.hpp>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
#include <optional>
 
namespace auterion {
class TrackingResult {
   public:
    enum class Frame {
        Camera,
        Body,   // equal to FMU
        FMU,    // equal to Body
        World,  // equal to ENU
        ENU     // equal to World
    };
 
    TrackingResult(const cv::Point& object_center, const cv::Size& object_size,
                   const float confidence = 1.f);
    ~TrackingResult();
 
    TrackingResult& withConfidence(const float confidence);
 
    TrackingResult& withObjectDirection(const Eigen::Vector3f& direction, Frame frame);
 
    inline cv::Point getObjectCenter() const { return _object_center; }
    inline cv::Size getObjectSize() const { return _object_size; }
    inline float getConfidence() const { return _confidence; }
    Eigen::Vector3f getObjectDirection(Frame frame = Frame::Camera) const;
 
   private:
    cv::Size _object_size;     
    cv::Point _object_center;  
    Eigen::Vector3f _object_direction_camera_frame;  
    Eigen::Vector3f _object_direction_body_frame;   
    Eigen::Vector3f _object_direction_world_frame;  
    float _confidence;                              
};
 
struct TrackingSelection {
    cv::Point2d normalized_point;       
    cv::Size2d normalized_window_size;  
    std::optional<rclcpp::Time>
        timestamp;  
 
    TrackingSelection(cv::Point2d normalized_point)
        : normalized_point(normalized_point),
          normalized_window_size{0, 0},
          timestamp(std::nullopt) {}
 
    TrackingSelection(cv::Point2d normalized_point, cv::Size2d normalized_window_size)
        : normalized_point(normalized_point),
          normalized_window_size(normalized_window_size),
          timestamp(std::nullopt) {}
};
 
class TrackingInterfaceImpl;
 
class TrackingInterface {
   public:
    enum TrackingKeyControl {
        NONE = 0,         
        ADJUST_DOWN = 1,  
        ADJUST_UP = 2,    
        ADJUST_LEFT = 3,  
        ADJUST_RIGHT = 4  
    };
 
    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 TrackKeyControlCallback = std::function<void(const TrackingKeyControl key)>;
 
    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 subscribeKeyControl(const TrackKeyControlCallback& 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