Landmark.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_TYPE_TYPE_LANDMARK_H
#define OV_TYPE_TYPE_LANDMARK_H
 
#include "LandmarkRepresentation.h"
#include "Vec.h"
#include "utils/colors.h"
#include "utils/print.h"
 
namespace ov_type {
 
class Landmark : public Vec {
 
public:
  Landmark(int dim) : Vec(dim) {}
 
  size_t _featid;
 
  int _unique_camera_id = -1;
 
  int _anchor_cam_id = -1;
 
  double _anchor_clone_timestamp = -1;
 
  bool has_had_anchor_change = false;
 
  bool should_marg = false;
 
  int update_fail_count = 0;
 
  Eigen::Vector3d uv_norm_zero;
 
  Eigen::Vector3d uv_norm_zero_fej;
 
  LandmarkRepresentation::Representation _feat_representation;
 
  void update(const Eigen::VectorXd &dx) override {
    // Update estimate
    assert(dx.rows() == _size);
    set_value(_value + dx);
    // Ensure we are not near zero in the z-direction
    // if (LandmarkRepresentation::is_relative_representation(_feat_representation) && _value(_value.rows() - 1) < 1e-8) {
    //  PRINT_DEBUG(YELLOW "WARNING DEPTH %.8f BECAME CLOSE TO ZERO IN UPDATE!!!\n" RESET, _value(_value.rows() - 1));
    //  should_marg = true;
    // }
  }
 
  Eigen::Matrix<double, 3, 1> get_xyz(bool getfej) const;
 
  void set_from_xyz(Eigen::Matrix<double, 3, 1> p_FinG, bool isfej);
};
} // namespace ov_type
 
#endif // OV_TYPE_TYPE_LANDMARK_H