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ov_core/src/feat/Feature.h

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+/*
+ * OpenVINS: An Open Platform for Visual-Inertial Research
+ * Copyright (C) 2018-2022 Patrick Geneva
+ * Copyright (C) 2018-2022 Guoquan Huang
+ * Copyright (C) 2018-2022 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 {
+
+/**
+ * @brief Sparse feature class used to collect measurements
+ *
+ * This feature class allows for holding of all tracking information for a given feature.
+ * Each feature has a unique ID assigned to it, and should have a set of feature tracks alongside it.
+ * See the FeatureDatabase class for details on how we load information into this, and how we delete features.
+ */
+class Feature {
+
+public:
+  /// Unique ID of this feature
+  size_t featid;
+
+  /// If this feature should be deleted
+  bool to_delete;
+
+  /// UV coordinates that this feature has been seen from (mapped by camera ID)
+  std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs;
+
+  /// UV normalized coordinates that this feature has been seen from (mapped by camera ID)
+  std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs_norm;
+
+  /// Timestamps of each UV measurement (mapped by camera ID)
+  std::unordered_map<size_t, std::vector<double>> timestamps;
+
+  /// What camera ID our pose is anchored in!! By default the first measurement is the anchor.
+  int anchor_cam_id = -1;
+
+  /// Timestamp of anchor clone
+  double anchor_clone_timestamp;
+
+  /// Triangulated position of this feature, in the anchor frame
+  Eigen::Vector3d p_FinA;
+
+  /// Triangulated position of this feature, in the global frame
+  Eigen::Vector3d p_FinG;
+
+  /**
+   * @brief Remove measurements that do not occur at passed timestamps.
+   *
+   * Given a series of valid timestamps, this will remove all measurements that have not occurred at these times.
+   * This would normally be used to ensure that the measurements that we have occur at our clone times.
+   *
+   * @param valid_times Vector of timestamps that our measurements must occur at
+   */
+  void clean_old_measurements(const std::vector<double> &valid_times);
+
+  /**
+   * @brief Remove measurements that occur at the invalid timestamps
+   *
+   * Given a series of invalid timestamps, this will remove all measurements that have occurred at these times.
+   *
+   * @param invalid_times Vector of timestamps that our measurements should not
+   */
+  void clean_invalid_measurements(const std::vector<double> &invalid_times);
+
+  /**
+   * @brief Remove measurements that are older then the specified timestamp.
+   *
+   * Given a valid timestamp, this will remove all measurements that have occured earlier then this.
+   *
+   * @param timestamp Timestamps that our measurements must occur after
+   */
+  void clean_older_measurements(double timestamp);
+};
+
+} // namespace ov_core
+
+#endif /* OV_CORE_FEATURE_H */