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Commit 1b479aba authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Remove all traces of tracks_kf_

parent e6ee6974
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1 merge request!287Redesign track kf
Pipeline #3645 passed
Stage: build
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    include/core/processor/track_matrix.h
    + 5
    − 5
    View file @ 1b479aba
    ......@@ -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 ) )
    ......
    src/processor/track_matrix.cpp
    + 1
    − 76
    View file @ 1b479aba
    ......@@ -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;
    }
    }
    test/gtest_track_matrix.cpp
    + 0
    − 78
    View file @ 1b479aba
    ......@@ -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)
    {
    ......
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