constellation_tracker_rerun.hpp

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// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Internal header for constellation tracker usage of the constellation tracker rerun logging.
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup tracking
 */
 
#pragma once
 
#include "xrt/xrt_config_build.h"
 
// @note In general usage, we don't use the internal header, rerun is an opt-in debugging feature, so we are OK using
//       internal APIs here to keep code clean and non-invasive. Please look at target_builder_rift.c instead for normal
//       usage of these APIs.
#include "t_constellation_tracker_internal.hpp"
 
#include <rerun.hpp>
 
 
namespace xrt::tracking::constellation {
 
const std::string rerun_recording_id = "constellation_tracking";
 
struct RerunContext
{
public: // Fields
        std::unique_ptr<rerun::RecordingStream> stream{};
 
public: // Methods
        RerunContext()
        {
                stream = std::make_unique<rerun::RecordingStream>(rerun_recording_id);
        }
 
        /*! Log a tracked frame to Rerun.
         *
         * All pose parameters must be in OpenXR coordinate space (Y-up). They will be converted to OpenCV space
         * (Y-down) internally for logging.
         *
         * @param camera_sample Camera frame with blobs
         * @param device_id Device being tracked
         * @param led_model LED model in device-local OpenCV space
         * @param calibration Camera intrinsics
         * @param Txr_world_cam World → Camera pose (OpenXR space)
         * @param Txr_cam_device Camera → Device pose (OpenXR space)
         * @param Txr_world_device World → Device pose (OpenXR space)
         * @param brightness Average brightness of matched blobs
         */
        void
        LogTrackedFrame(const CameraSample &camera_sample,
                        t_constellation_device_id_t device_id,
                        const t_constellation_tracker_led_model &led_model,
                        const t_camera_calibration &calibration,
                        const xrt_pose &Txr_world_cam,
                        const xrt_pose &Txr_cam_device,
                        const xrt_pose &Txr_world_device,
                        float brightness);
 
private: // Methods
        void
        LogStaticScene(const CameraSample &camera_sample, const t_camera_calibration &calibration);
 
        void
        LogLedModel(const std::string &entity_name, const t_constellation_tracker_led_model &led_model);
 
        void
        LogBlobSet(const std::string &entity_name,
                   const CameraSample &camera_sample,
                   t_constellation_device_id_t device_id,
                   bool matched_only);
 
        void
        LogFrameMetrics(const CameraSample &camera_sample, t_constellation_device_id_t device_id, float brightness);
};
 
}; // namespace xrt::tracking::constellation