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
 
// @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 "constellation_rerun_common.hpp"
 
#include <rerun.hpp>
 
 
namespace xrt::tracking::constellation {
 
const std::string rerun_recording_id = "constellation_tracking";
 
struct RerunContext : public RerunStream
{
public: // Methods
        RerunContext() : RerunStream(rerun_recording_id) {}
 
        /*!
         * Log a camera sample to rerun.
         *
         * @remarks Call with `tracker->device_lock` held.
         *
         * @param tracker       The constellation tracker.
         * @param camera_sample The camera sample to log.
         */
        void
        logSample(const ConstellationTracker &tracker, const CameraSample &camera_sample);
 
        /*!
         * Logs a camera's image frame to rerun.
         *
         * @param mosaic_index The index of the mosaic the camera belongs to.
         * @param camera_index The index of the camera in the mosaic.
         * @param frame        The camera's image frame.
         */
        void
        logImageFrame(const ConstellationTracker &tracker,
                      uint32_t mosaic_index,
                      uint32_t camera_index,
                      const xrt_frame &frame);
 
private: // Methods
        void
        logStaticScene(const CameraSample &camera_sample, const t_camera_calibration &calibration);
 
        void
        logLedModel(const std::string &entity_name,
                    t_constellation_device_id_t device_id,
                    const t_constellation_tracker_led_model &led_model,
                    bool prior);
 
        void
        logBlobSet(const CameraSample &camera_sample);
 
        void
        logFrameCameraMetrics(const CameraSample &camera_sample);
 
        void
        logFrameDeviceMetrics(const CameraSample &camera_sample, const DeviceState &device_state);
 
        void
        logFoundPose(const CameraSample &camera_sample,
                     const std::unique_ptr<Device> &device,
                     const FoundDevicePose &found_pose);
};
 
}; // namespace xrt::tracking::constellation