diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 0be506eaac14fec3bb469e725982ae8100400636..edc6f9092f96fe7835d80658b975eb127552a00c 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -99,10 +99,10 @@ class TrackMatrix
CaptureBasePtr firstCapture(size_t _track_id);
// tracks across captures that belong to keyframe
- SizeStd numKeyframeTracks();
+// SizeStd numKeyframeTracks();
Track trackAtKeyframes(size_t _track_id);
- bool markKeyframe(CaptureBasePtr _capture);
- bool unmarkKeyframe(CaptureBasePtr _capture);
+// bool markKeyframe(CaptureBasePtr _capture);
+// bool unmarkKeyframe(CaptureBasePtr _capture);
private:
@@ -111,8 +111,8 @@ class TrackMatrix
// Along track: maps of Feature pointers indexed by time stamp.
// tracks across all Captures
map<size_t, Track > tracks_; // map indexed by track_Id of ( maps indexed by TimeStamp of ( features ) )
- // tracks across captures that belong to keyframe
- map<size_t, Track > tracks_kf_; // map indexed by track_Id of ( maps indexed by TimeStamp of ( features ) )
+// // tracks across captures that belong to keyframe
+// map<size_t, Track > tracks_kf_; // map indexed by track_Id of ( maps indexed by TimeStamp of ( features ) )
// Across track: maps of Feature pointers indexed by track_Id.
map<CaptureBasePtr, Snapshot > snapshots_; // map indexed by capture_ptr of ( maps indexed by track_Id of ( features ) )
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index b6af398c7270b4881553eeb5fad941601138e480..394fa88964d46e1a0d0e1632a058a124cb4ecfdc 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -53,8 +53,6 @@ void TrackMatrix::add(size_t _track_id, CaptureBasePtr _cap, FeatureBasePtr _ftr
_ftr->setCapture(_cap);
tracks_[_track_id].emplace(_cap->getTimeStamp(), _ftr);
snapshots_[_cap].emplace(_track_id, _ftr); // will create new snapshot if _cap_id is not present
- if (_cap->getFrame() && _cap->getFrame()->isKey())
- tracks_kf_[_track_id].emplace(_cap->getTimeStamp(), _ftr);
}
void TrackMatrix::remove(size_t _track_id)
@@ -74,9 +72,6 @@ void TrackMatrix::remove(size_t _track_id)
// Remove track
tracks_.erase(_track_id);
}
- if (tracks_kf_.count(_track_id))
- // Remove track
- tracks_kf_.erase(_track_id);
}
void TrackMatrix::remove(CaptureBasePtr _cap)
@@ -91,12 +86,6 @@ void TrackMatrix::remove(CaptureBasePtr _cap)
tracks_.at(trk_id).erase(ts);
if (tracks_.at(trk_id).empty())
tracks_.erase(trk_id);
- if (_cap->getFrame() && _cap->getFrame()->isKey())
- {
- tracks_kf_.at(trk_id).erase(ts);
- if (tracks_kf_.at(trk_id).empty())
- tracks_kf_.erase(trk_id);
- }
}
// remove snapshot
@@ -115,13 +104,6 @@ void TrackMatrix::remove(FeatureBasePtr _ftr)
if (tracks_.at(_ftr->trackId()).empty())
tracks_.erase(_ftr->trackId());
- if (cap->getFrame() && cap->getFrame()->isKey())
- {
- tracks_kf_ .at(_ftr->trackId()).erase(cap->getTimeStamp());
- if (tracks_kf_.at(_ftr->trackId()).empty())
- tracks_kf_.erase(_ftr->trackId());
- }
-
snapshots_.at(cap) .erase(_ftr->trackId());
if (snapshots_.at(cap).empty())
snapshots_.erase(cap);
@@ -134,11 +116,6 @@ size_t TrackMatrix::numTracks()
return tracks_.size();
}
-size_t TrackMatrix::numKeyframeTracks()
-{
- return tracks_kf_.size();
-}
-
size_t TrackMatrix::trackSize(size_t _track_id)
{
return track(_track_id).size();
@@ -220,14 +197,7 @@ CaptureBasePtr TrackMatrix::firstCapture(size_t _track_id)
Track TrackMatrix::trackAtKeyframes(size_t _track_id)
{
-// // This requires tracks_kf_
-// if (tracks_kf_.count(_track_id) > 0)
-// return tracks_kf_.at(_track_id);
-// else
-// return Track();
-
-
- // This does not require any tracks_kf_; it assembles a track_kf on the fly by checking each capture's frame.
+ // We assemble a track_kf on the fly by checking each capture's frame.
if (tracks_.count(_track_id))
{
Track track_kf;
@@ -244,49 +214,4 @@ Track TrackMatrix::trackAtKeyframes(size_t _track_id)
return Track();
}
-bool TrackMatrix::markKeyframe(CaptureBasePtr _capture)
-{
- if (_capture->getFrame() && _capture->getFrame()->isKey())
- {
- auto snap = snapshot(_capture);
-
- if (snap.empty())
- return false;
-
- for (auto pair_trkid_ftr : snap)
- {
- auto track_id = pair_trkid_ftr.first;
- auto ftr = pair_trkid_ftr.second;
- auto ts = _capture->getFrame()->getTimeStamp();
- tracks_kf_[track_id][ts] = ftr;
- }
- return true;
- }
- return false;
-}
-
-bool TrackMatrix::unmarkKeyframe(CaptureBasePtr _capture)
-{
- bool removed = false;
- if (_capture)
- {
- auto ts = _capture->getTimeStamp();
- for (auto& pair_id_trk : tracks_kf_)
- {
- if (pair_id_trk.second.erase(ts)) // remove feature from track
- {
- if (pair_id_trk.second.empty()) // remove empty tracks
- {
- tracks_kf_.erase(pair_id_trk.first);
- if (tracks_kf_.empty())
- break;
- }
- removed = true;
- }
- }
- }
- return removed;
-}
-
-
}
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index a11537156af399c2b6018c643f51c9fef78cd9aa..f2f08e8c2241624b8914fd0eb6dc2ebbf93bab2d 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -60,26 +60,21 @@ TEST_F(TrackMatrixTest, newTrack)
{
track_matrix.newTrack(C0, f0);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.newTrack(C0, f1);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
track_matrix.newTrack(C1, f2);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 3);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
track_matrix.newTrack(C1, f3);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 4);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
}
TEST_F(TrackMatrixTest, add)
{
track_matrix.newTrack(C0, f0);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.add(f0->trackId(), C1, f1);
/* KC0 C1 C2 snapshots
@@ -89,7 +84,6 @@ TEST_F(TrackMatrixTest, add)
ASSERT_EQ(track_matrix.trackSize(f1->trackId()), (unsigned int) 2);
ASSERT_EQ(f1->trackId(), f0->trackId());
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.add(f0->trackId(), C2, f2);
/* KC0 C1 C2 snapshots
@@ -99,7 +93,6 @@ TEST_F(TrackMatrixTest, add)
ASSERT_EQ(track_matrix.trackSize(f2->trackId()), (unsigned int) 3);
ASSERT_EQ(f2->trackId(), f0->trackId());
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.add(f0->trackId(), C2, f2);
/* KC0 C1 C2 snapshots
@@ -111,7 +104,6 @@ TEST_F(TrackMatrixTest, add)
ASSERT_EQ(track_matrix.trackSize(f3->trackId()), (unsigned int) 1);
ASSERT_NE(f3->trackId(), f0->trackId());
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
}
TEST_F(TrackMatrixTest, numTracks)
@@ -182,7 +174,6 @@ TEST_F(TrackMatrixTest, remove_ftr)
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
track_matrix.remove(f0);
/* C0 C1 C2 snapshots
@@ -198,7 +189,6 @@ TEST_F(TrackMatrixTest, remove_ftr)
ASSERT_EQ(track_matrix.snapshot(C0).at(f2->trackId()), f2);
ASSERT_EQ(track_matrix.snapshot(C1).size(), (unsigned int) 1);
ASSERT_EQ(track_matrix.snapshot(C1).at(f0->trackId()), f1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.remove(f1);
/* C0 C1 C2 snapshots
@@ -207,14 +197,12 @@ TEST_F(TrackMatrixTest, remove_ftr)
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
ASSERT_EQ(track_matrix.firstFeature(f2->trackId()), f2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.remove(f2);
/* C0 C1 C2 snapshots
*
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 0);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 0);
}
TEST_F(TrackMatrixTest, remove_trk)
@@ -231,16 +219,13 @@ TEST_F(TrackMatrixTest, remove_trk)
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
track_matrix.remove(f0->trackId());
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
ASSERT_EQ(track_matrix.firstFeature(f2->trackId()), f2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
track_matrix.remove(f2->trackId());
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 0);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 0);
}
TEST_F(TrackMatrixTest, remove_snapshot)
@@ -257,7 +242,6 @@ TEST_F(TrackMatrixTest, remove_snapshot)
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
track_matrix.remove(C0);
/* C1 C2 snapshots
@@ -266,11 +250,9 @@ TEST_F(TrackMatrixTest, remove_snapshot)
*/
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
ASSERT_EQ(track_matrix.firstFeature(f1->trackId()), f1);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 0);
track_matrix.remove(C1);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 0);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 0);
}
TEST_F(TrackMatrixTest, track)
@@ -410,66 +392,6 @@ TEST_F(TrackMatrixTest, trackAtKeyframes)
ASSERT_EQ(trk_kf_1.size(), 0);
}
-TEST_F(TrackMatrixTest, markKeyframe)
-{
- track_matrix.newTrack(C0, f0);
- track_matrix.add(f0->trackId(), C1, f1);
- track_matrix.add(f0->trackId(), C2, f2);
- track_matrix.add(1, C1, f3);
- /* KC0 C1 C2 C3 snapshots
- *
- * f0---f1---f2 trk 0
- * |
- * f3 trk 1
- */
-
- ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
-
- C1->getFrame()->setKey();
- track_matrix.markKeyframe(C1);
- /* KC0 KC1 C2 C3 snapshots
- *
- * f0---f1---f2 trk 0
- * |
- * f3 trk 1
- */
-
- ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 2);
-
-}
-
-TEST_F(TrackMatrixTest, unmarkKeyframe)
-{
- track_matrix.newTrack(C0, f0);
- track_matrix.add(f0->trackId(), C1, f1);
- track_matrix.add(f0->trackId(), C2, f2);
- track_matrix.add(1, C1, f3);
- /* KC0 C1 C2 C3 snapshots
- *
- * f0---f1---f2 trk 0
- * |
- * f3 trk 1
- */
-
- ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 1);
-
- F0->setNonEstimated();
- track_matrix.unmarkKeyframe(C0);
- /* C0 C1 C2 C3 snapshots
- *
- * f0---f1---f2 trk 0
- * |
- * f3 trk 1
- */
-
- ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
- ASSERT_EQ(track_matrix.numKeyframeTracks(), (unsigned int) 0);
-
-
-}
int main(int argc, char **argv)
{