common.hpp

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#pragma once
 
#include <Eigen/Dense>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
#include <optional>
#include <rclcpp/rclcpp.hpp>
 
namespace auterion {
enum TrackingState {
    UNKNOWN = 0,   // Used for constructors and error handling
    INACTIVE = 1,  // No tracking is active
    TRACKING = 2,  // Actively tracking a target with good confidence
    DEGRADED = 3,  // Tracking with reduced confidence
    LOST = 4       // Target was being tracked but has been lost
};
 
std::ostream& operator<<(std::ostream& os, const TrackingState& state);
 
enum TrackingAdjustment {
    NONE = 0,         
    ADJUST_DOWN = 1,  
    ADJUST_UP = 2,    
    ADJUST_LEFT = 3,  
    ADJUST_RIGHT = 4  
};
 
std::ostream& operator<<(std::ostream& os, const TrackingAdjustment& adjustment);
 
class TrackingResult {
   public:
    enum class Frame {
        Camera,
        Body,   // equal to FMU
        FMU,    // equal to Body
        World,  // equal to ENU
        ENU     // equal to World
    };
 
    TrackingResult(const cv::Point& object_center, const cv::Size& object_size,
                   const float confidence = 1.f, TrackingState state = TrackingState::UNKNOWN);
 
    ~TrackingResult();
 
    TrackingResult& withConfidence(const float confidence);
 
    TrackingResult& withObjectDirection(const Eigen::Vector3f& direction, Frame frame);
 
    inline cv::Point getObjectCenter() const { return _object_center; }
    inline cv::Size getObjectSize() const { return _object_size; }
    inline float getConfidence() const { return _confidence; }
    inline TrackingState getTrackingState() const { return _tracking_state; }
    Eigen::Vector3f getObjectDirection(Frame frame = Frame::Camera) const;
 
   private:
    cv::Size _object_size;     
    cv::Point _object_center;  
    Eigen::Vector3f _object_direction_camera_frame;  
    Eigen::Vector3f _object_direction_body_frame;   
    Eigen::Vector3f _object_direction_world_frame;  
    float _confidence;                              
    TrackingState
        _tracking_state;  
};
 
struct TrackingSelection {
    cv::Point2d normalized_point;       
    cv::Size2d normalized_window_size;  
    std::optional<uint16_t> frame_id;   
 
    TrackingSelection(cv::Point2d normalized_point, std::optional<uint16_t> frame_id = std::nullopt)
        : normalized_point(normalized_point), normalized_window_size{0, 0}, frame_id(frame_id) {}
 
    TrackingSelection(cv::Point2d normalized_point, cv::Size2d normalized_window_size,
                      std::optional<uint16_t> frame_id = std::nullopt)
        : normalized_point(normalized_point),
          normalized_window_size(normalized_window_size),
          frame_id(frame_id) {}
};
}  // namespace auterion