ObjectDetector.h

//
// Created by romain on 5/26/25.
//
 
#ifndef OBJECTDETECTOR_H
#define OBJECTDETECTOR_H
#include "SensorArray.h"
 
 
class ObjectDetector {
 
public:
 
    struct AnchorBox
    {
        //Top corner
        Point tc;
        //Lower Corner
        Point lc;

        //AnchorBox(Point origin, double x_size, double y_size, double z_size);
        //bool contains(Point p) const;
    };
 
    struct Detector
    {
        AnchorBox box;
 
        //Last ping in ms
        uint64_t last_ping;
 
        bool wasInFOV;
    };

 
    ObjectDetector(SensorArray *array, AnchorBox env);
 
    uint8_t Update();
 
 
private:
    SensorArray *sensors;
    AnchorBox arena;
 
    std::vector<Point> points;
 
    std::vector<Detector> detectors;
 
    uint8_t KeepArena();
 
};
 
 
 
#endif //OBJECTDETECTOR_H