ObjectInterpreter.hpp

#ifndef OBJECTINTERPRETER_HPP
#define OBJECTINTERPRETER_HPP

#include <vector>
#include <boost/circular_buffer.hpp>
#include "KinectInterpreter.hpp"
#include "LidarInterpreter.hpp"
#include "Object.hpp"

namespace HLR
{
namespace PointCloud
{
class ObjectInterpreter
{
public:
    ObjectInterpreter() = default;
    std::vector<Object> get_current_objects();

    std::vector<Object> get_changed_objects();

private:
    void merge_objects();

    std::vector<Object> current_objects;
    boost::circular_buffer<std::vector<Object>> history =
        boost::circular_buffer<std::vector<Object>>(5);
    KinectInterpreter kinect_interpreter;
    LidarInterpreter lidar_interpreter;
};
} // namespace PointCloud
} // namespace HLR
#endif /* OBJECTINTERPRETER_HPP */