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include/basalt/vi_estimator/landmark_database.h

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+
+#include <basalt/utils/imu_types.h>
+#include <basalt/utils/eigen_utils.hpp>
+
+namespace basalt {
+
+template <class Scalar_>
+struct KeypointObservation {
+  using Scalar = Scalar_;
+
+  int kpt_id;
+  Eigen::Matrix<Scalar, 2, 1> pos;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+// keypoint position defined relative to some frame
+template <class Scalar_>
+struct Keypoint {
+  using Scalar = Scalar_;
+  using Vec2 = Eigen::Matrix<Scalar, 2, 1>;
+
+  using ObsMap = Eigen::aligned_map<TimeCamId, Vec2>;
+  using MapIter = typename ObsMap::iterator;
+
+  // 3D position parameters
+  Vec2 direction;
+  Scalar inv_dist;
+
+  // Observations
+  TimeCamId host_kf_id;
+  ObsMap obs;
+
+  inline void backup() {
+    backup_direction = direction;
+    backup_inv_dist = inv_dist;
+  }
+
+  inline void restore() {
+    direction = backup_direction;
+    inv_dist = backup_inv_dist;
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+  Vec2 backup_direction;
+  Scalar backup_inv_dist;
+};
+
+template <class Scalar_>
+class LandmarkDatabase {
+ public:
+  using Scalar = Scalar_;
+
+  // Non-const
+  void addLandmark(KeypointId lm_id, const Keypoint<Scalar>& pos);
+
+  void removeFrame(const FrameId& frame);
+
+  void removeKeyframes(const std::set<FrameId>& kfs_to_marg,
+                       const std::set<FrameId>& poses_to_marg,
+                       const std::set<FrameId>& states_to_marg_all);
+
+  void addObservation(const TimeCamId& tcid_target,
+                      const KeypointObservation<Scalar>& o);
+
+  Keypoint<Scalar>& getLandmark(KeypointId lm_id);
+
+  // Const
+  const Keypoint<Scalar>& getLandmark(KeypointId lm_id) const;
+
+  std::vector<TimeCamId> getHostKfs() const;
+
+  std::vector<const Keypoint<Scalar>*> getLandmarksForHost(
+      const TimeCamId& tcid) const;
+
+  const std::unordered_map<TimeCamId,
+                           std::map<TimeCamId, std::set<KeypointId>>>&
+  getObservations() const;
+
+  const Eigen::aligned_unordered_map<KeypointId, Keypoint<Scalar>>&
+  getLandmarks() const;
+
+  bool landmarkExists(int lm_id) const;
+
+  size_t numLandmarks() const;
+
+  int numObservations() const;
+
+  int numObservations(KeypointId lm_id) const;
+
+  void removeLandmark(KeypointId lm_id);
+
+  void removeObservations(KeypointId lm_id, const std::set<TimeCamId>& obs);
+
+  inline void backup() {
+    for (auto& kv : kpts) kv.second.backup();
+  }
+
+  inline void restore() {
+    for (auto& kv : kpts) kv.second.restore();
+  }
+
+ private:
+  using MapIter =
+      typename Eigen::aligned_unordered_map<KeypointId,
+                                            Keypoint<Scalar>>::iterator;
+  MapIter removeLandmarkHelper(MapIter it);
+  typename Keypoint<Scalar>::MapIter removeLandmarkObservationHelper(
+      MapIter it, typename Keypoint<Scalar>::MapIter it2);
+
+  Eigen::aligned_unordered_map<KeypointId, Keypoint<Scalar>> kpts;
+
+  std::unordered_map<TimeCamId, std::map<TimeCamId, std::set<KeypointId>>>
+      observations;
+
+  static constexpr int min_num_obs = 2;
+};
+
+}  // namespace basalt