61 lines
1.7 KiB
C++
61 lines
1.7 KiB
C++
/*
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* Copyright (C) 2022 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 "media/Pose.h"
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namespace android {
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namespace media {
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/**
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* Biasing for a stream of poses.
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*
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* This filter takes a stream of poses and at any time during the stream, can change the frame of
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* reference for the stream to be that of the last pose received, via the recenter() operation.
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*
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* Typical usage:
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* PoseBias bias;
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*
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* bias.setInput(...);
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* output = bias.getOutput();
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* bias.setInput(...);
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* output = bias.getOutput();
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* bias.setInput(...);
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* output = bias.getOutput();
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* bias.recenter(); // Reference frame is now equal to the last input.
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* output = bias.getOutput(); // This is now the identity pose.
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*
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* There doesn't need to be a 1:1 correspondence between setInput() and getOutput() calls.
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* The initial bias point is identity.
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*
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* This implementation is thread-compatible, but not thread-safe.
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*/
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class PoseBias {
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public:
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void setInput(const Pose3f& input);
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void recenter();
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Pose3f getOutput() const;
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private:
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Pose3f mLastWorldToInput;
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Pose3f mBiasToWorld;
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};
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} // namespace media
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} // namespace android
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