FeatureDatabase.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_CORE_FEATURE_DATABASE_H
#define OV_CORE_FEATURE_DATABASE_H

#include <Eigen/Eigen>
#include <memory>
#include <mutex>
#include <unordered_map>
#include <vector>

namespace ov_core {

class Feature;

class FeatureDatabase {

public:
  FeatureDatabase() {}

  std::shared_ptr<Feature> get_feature(size_t id, bool remove = false);

  bool get_feature_clone(size_t id, Feature &feat);

  void update_feature(size_t id, double timestamp, size_t cam_id, float u, float v, float u_n, float v_n);

  std::vector<std::shared_ptr<Feature>> features_not_containing_newer(double timestamp, bool remove = false, bool skip_deleted = false);

  std::vector<std::shared_ptr<Feature>> features_containing_older(double timestamp, bool remove = false, bool skip_deleted = false);

  std::vector<std::shared_ptr<Feature>> features_containing(double timestamp, bool remove = false, bool skip_deleted = false);

  void cleanup();

  void cleanup_measurements(double timestamp);

  void cleanup_measurements_exact(double timestamp);

  size_t size() {
    std::lock_guard<std::mutex> lck(mtx);
    return features_idlookup.size();
  }

  std::unordered_map<size_t, std::shared_ptr<Feature>> get_internal_data() {
    std::lock_guard<std::mutex> lck(mtx);
    return features_idlookup;
  }

  double get_oldest_timestamp();

  void append_new_measurements(const std::shared_ptr<FeatureDatabase> &database);

protected:
  std::mutex mtx;

  std::unordered_map<size_t, std::shared_ptr<Feature>> features_idlookup;
};

} // namespace ov_core

#endif /* OV_CORE_FEATURE_DATABASE_H */