sensor_fusion_rerun.hpp

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// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Internal header for sensor fusion usage of rerun logging.
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup tracking
 */
 
#pragma once
 
#include "constellation/constellation_rerun_common.hpp"
#include "sensor_fusion.hpp"
 
#include <rerun.hpp>
 
 
namespace xrt::tracking::constellation::optimizer::sensor_fusion {
 
//! Whether to log older keyframes or just the newest.
constexpr bool kLogOldKeyframes = false;
 
const std::string_view kRerunRecordingId = "constellation_sensor_fusion";
 
struct RerunContext : public RerunStream
{
public: // Methods
        RerunContext() : RerunStream(kRerunRecordingId) {}
 
        /*!
         * Logs one sliding-window solve to rerun.
         *
         * Everything is logged against two timelines: a `solves` sequence, which is the only one that advances
         * monotonically, and a `fusion_time` timestamp taken from the newest keyframe in the window.
         *
         * @param snapshot The window and its solved state, as captured around @ref SensorFusion::runFusionLocked.
         */
        void
        logSolve(const SolveSnapshot &snapshot);
 
private: // Methods
        void
        logStaticScene();
 
        void
        logSolveSummary(const SolveSnapshot &snapshot);
 
        void
        logSolverMetrics(const SolveSnapshot &snapshot);
 
        void
        logCameras(const SolveSnapshot &snapshot);
 
        void
        logDevice(const SolveSnapshot &snapshot);
 
        void
        logDeviceWindow(const SolveSnapshot &snapshot);
 
        void
        logDeviceMetrics(const SolveSnapshot &snapshot);
 
        void
        logObservations(const SolveSnapshot &snapshot);
};
 
}; // namespace xrt::tracking::constellation::optimizer::sensor_fusion