UpdaterSLAM.h

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/*
 * 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_MSCKF_UPDATER_SLAM_H
#define OV_MSCKF_UPDATER_SLAM_H

#include <Eigen/Eigen>
#include <memory>

#include "feat/FeatureInitializerOptions.h"

#include "UpdaterOptions.h"

namespace ov_core {
class Feature;
class FeatureInitializer;
} // namespace ov_core
namespace ov_type {
class Landmark;
} // namespace ov_type

namespace ov_msckf {

class State;

class UpdaterSLAM {

public:
  UpdaterSLAM(UpdaterOptions &options_slam, UpdaterOptions &options_aruco, ov_core::FeatureInitializerOptions &feat_init_options);

  void update(std::shared_ptr<State> state, std::vector<std::shared_ptr<ov_core::Feature>> &feature_vec);

  void delayed_init(std::shared_ptr<State> state, std::vector<std::shared_ptr<ov_core::Feature>> &feature_vec);

  void change_anchors(std::shared_ptr<State> state);

protected:
  void perform_anchor_change(std::shared_ptr<State> state, std::shared_ptr<ov_type::Landmark> landmark, double new_anchor_timestamp,
                             size_t new_cam_id);

  UpdaterOptions _options_slam;

  UpdaterOptions _options_aruco;

  std::shared_ptr<ov_core::FeatureInitializer> initializer_feat;

  std::map<int, double> chi_squared_table;
};

} // namespace ov_msckf

#endif // OV_MSCKF_UPDATER_SLAM_H