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 Apache License, Version 2.0
// (the "License"); you may not use this file except in compliance with the
// License. You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
// License for the specific language governing permissions and limitations
// under the License.
//
// 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