Feature.h

Go to the documentation of this file.

/*
 * 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_H
#define OV_CORE_FEATURE_H

#include <Eigen/Eigen>
#include <iostream>
#include <unordered_map>
#include <vector>

namespace ov_core {

class Feature {

public:
  size_t featid;

  bool to_delete;

  std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs;

  std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs_norm;

  std::unordered_map<size_t, std::vector<double>> timestamps;

  int anchor_cam_id = -1;

  double anchor_clone_timestamp;

  Eigen::Vector3d p_FinA;

  Eigen::Vector3d p_FinG;

  void clean_old_measurements(const std::vector<double> &valid_times);

  void clean_invalid_measurements(const std::vector<double> &invalid_times);

  void clean_older_measurements(double timestamp);
};

} // namespace ov_core

#endif /* OV_CORE_FEATURE_H */