From 8dcd1066788f0f937dcaf1dc2f3d269d086ee298 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 21:42:26 +0200
Subject: [PATCH] Delete tracks that have no keyframe (old dead tracks)
---
src/processor/processor_visual_odometry.cpp | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 0f50386f9..b0d02ec63 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -498,6 +498,19 @@ LandmarkBasePtr ProcessorVisualOdometry::emplaceLandmark(FeatureBasePtr _feat)
void ProcessorVisualOdometry::postProcess()
{
frame_count_ ++;
+
+ // delete tracks with no keyframes
+ for (auto track_it = track_matrix_.getTracks().begin(); track_it != track_matrix_.getTracks().end(); /* do not increment iterator yet... */)
+ {
+ auto track_id = track_it->first;
+ if (track_matrix_.trackAtKeyframes(track_id).empty())
+ {
+ ++track_it; // ... increment iterator **before** erasing the element!!!
+ track_matrix_.remove(track_id);
+ }
+ else
+ ++track_it;
+ }
}
bool ProcessorVisualOdometry::voteForKeyFrame() const
--
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