VisionProcessor.hpp

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#pragma once
 
#include <opencv2/opencv.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>  // Requires OpenCV >= 4.7
#include <chrono>
#include <vector>
 
#include "Types.hpp"
#include "VisionConfig.hpp"
 
 
class VisionProcessor {
public:
 
    // Construction 
 
    explicit VisionProcessor(const VisionConfig& config);
 
    // Core Interface 
 
    SafetyResult process(
        const cv::Mat& frame,
        std::chrono::steady_clock::time_point captureTimestamp);
 
    void updateConfig(const VisionConfig& newConfig);
 
private:
 
    // Configuration
 
    VisionConfig config_;
 
    // Reserved marker-detection members (currently inactive on this branch)
    //
    // Kept only for compatibility with marker-based configurations.
 
    cv::aruco::Dictionary dictionary_;
 
    cv::aruco::DetectorParameters detectorParams_;
 
    cv::aruco::ArucoDetector detector_;
 
    // Reserved inter-frame members from marker pipeline (currently inactive)
 
    cv::Point2f previousPosition_;
 
    bool hasPrevious_ = false;
 
    std::chrono::steady_clock::time_point lastTimestamp_{};
 
    mutable std::vector<std::vector<cv::Point2f>> rejected_;
};