tracker.hpp

// Copyright 2024 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef TRACKERS__TRACKER_HPP_
#define TRACKERS__TRACKER_HPP_
 
#include <memory>
#include <string>
 
#include "ekf/ekf.hpp"
#include "ekf/types.hpp"
#include "infrastructure/debug_logger.hpp"
 
class Tracker
{
public:
  typedef struct Parameters
  {
    std::string name {""};                
    int camera_id{-1};                    
    std::string log_directory {""};       
    Intrinsics intrinsics;                
    unsigned int min_track_length{2};     
    unsigned int max_track_length{20};    
    double data_log_rate {0.0};           
    std::shared_ptr<DebugLogger> logger;  
    std::shared_ptr<EKF> ekf;             
  } Parameters;
 
  explicit Tracker(Parameters params);
 
  unsigned int GetID();
 
protected:
  unsigned int m_id;                      
  int m_camera_id;                        
  unsigned int m_min_track_length{2};     
  unsigned int m_max_track_length{20};    
  std::shared_ptr<EKF> m_ekf;             
  std::shared_ptr<DebugLogger> m_logger;  
 
private:
  static unsigned int m_tracker_count;    
};
 
#endif  // TRACKERS__TRACKER_HPP_