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#pragma once

#include "GlobalDefines.h"

// Distance before two points are considered separate objects

#define OBJECT_DISTANCE_THRESHOLD 20

// Length of the history to store

#define HISTORY_DEPTH 10

class KalmanFilter;

typedef struct {

	int ID;

	cv::Point2f last_known_pt;

	cv::Point2f predicted_pt;

	float velocity;

	float angle;

	KalmanFilter *filter;

	bool valid;

	std::list<cv::Point2f> history;

	cv::Point2f historyAvg;

} MOVING_OBJECT;

class MovingPointTracker {

public:

	MovingPointTracker();

	~MovingPointTracker();

	std::vector<MOVING_OBJECT> update(std::vector<cv::Point2f>);

private:

	float pointDistance(cv::Point2f &, cv::Point2f &);

	int nextID;

	int active_objects;

	std::vector<MOVING_OBJECT> objects;

};