track_manager.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef TRACK_MANAGER_HPP
#define TRACK_MANAGER_HPP
 
#include <opencv2/opencv.hpp>
#include <unordered_set>
 
#include "types/fptypes.hpp"
#include "vision/tracker.hpp"
 
namespace msceqf
{
class TrackManager
{
 public:
  TrackManager(const TrackManagerOptions& opts, const Vector4& intrinsics);
 
  void processCamera(Camera& cam);
 
  void processFeatures(const TriangulatedFeatures& features);
 
  const Tracks& tracks() const;
 
  void tracksIds(const fp& timestamp, std::unordered_set<uint>& active_ids, std::unordered_set<uint>& lost_ids) const;
 
  void activeTracksIds(const fp& timestamp, std::unordered_set<uint>& active_ids) const;
 
  void lostTracksIds(const fp& timestamp, std::unordered_set<uint>& lost_ids) const;
 
  void removeTracksId(const std::unordered_set<uint>& ids);
 
  void removeTracksTail(const fp& timestamp, const bool& remove_equal = true);
 
  inline void clear() { tracks_.clear(); }
 
  const PinholeCameraUniquePtr& cam() const;
 
 private:
  void updateTracks();
 
  Tracker tracker_;  
  Tracks tracks_;    
 
  size_t max_track_length_;  
};
 
}  // namespace msceqf
 
#endif  // TRACK_MANAGER_HPP