TrackSIM.h

Go to the documentation of this file.

/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * 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 OV_CORE_TRACK_SIM_H
#define OV_CORE_TRACK_SIM_H
 
#include "TrackBase.h"
 
namespace ov_core {
 
class TrackSIM : public TrackBase {
 
public:
  TrackSIM(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numaruco)
      : TrackBase(cameras, 0, numaruco, false, HistogramMethod::NONE) {}
 
  void feed_new_camera(const CameraData &message) override {
    PRINT_ERROR(RED "[SIM]: SIM TRACKER FEED NEW CAMERA CALLED!!!\n" RESET);
    PRINT_ERROR(RED "[SIM]: THIS SHOULD NEVER HAPPEN!\n" RESET);
    std::exit(EXIT_FAILURE);
  }
 
  void feed_measurement_simulation(double timestamp, const std::vector<int> &camids,
                                   const std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>> &feats);
};
 
} // namespace ov_core
 
#endif /* OV_CORE_TRACK_SIM_H */