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 */