rig_calibration_rerun.hpp

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// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Internal header for sensor calibration usage of rerun logging.
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup tracking
 */
 
#pragma once
 
#include "rig_calibration.hpp"
#include "constellation/constellation_rerun_common.hpp"
 
#include <rerun.hpp>
 
 
namespace xrt::tracking::constellation::optimizer::rig_calibration {
 
const std::string rerun_recording_id = "rig_calibration";
 
struct RerunContext : public RerunStream
{
public: // Methods
        RerunContext() : RerunStream(rerun_recording_id) {}
 
        /*!
         * Logs the result of an rig calibration solve to rerun.
         *
         * The solved camera poses, the device trajectory and the solve summary are logged statically, so a later
         * solve replaces them. Per-keyframe data is logged on a timeline keyed by the keyframe timestamps.
         *
         * @param result The result of the solve.
         */
        void
        logResult(const CalibrationResult &result);
 
private: // Methods
        void
        logStaticScene();
 
        void
        logSolveSummary(const CalibrationResult &result);
 
        void
        logCameras(const CalibrationResult &result);
 
        void
        logDeviceTrajectory(const CalibrationResult &result);
 
        void
        logKeyframe(const CalibrationResult &result, const KeyframeCalibration &keyframe);
 
        void
        logKeyframeObservations(const CalibrationResult &result, const KeyframeCalibration &keyframe);
 
        void
        logKeyframeMetrics(const CalibrationResult &result, const KeyframeCalibration &keyframe);
};
 
}; // namespace xrt::tracking::constellation::optimizer::rig_calibration