From 8ace370677f01462577cf4d026bc21178200b0cf Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 26 Feb 2025 11:27:14 +0100
Subject: [PATCH] new TrackMatrix method cleanSnapshots
---
include/core/processor/track_matrix.h | 5 +++
src/processor/track_matrix.cpp | 21 +++++++++++++
test/gtest_track_matrix.cpp | 45 +++++++++++++++++++++++++++
3 files changed, 71 insertions(+)
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 6a325f79b..d15917120 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -121,6 +121,8 @@ class TrackMatrix
FeatureBasePtr feature(const SizeStd& _track_id, CaptureBasePtr _cap);
CaptureBaseConstPtr firstCapture(const SizeStd& _track_id) const;
CaptureBasePtr firstCapture(const SizeStd& _track_id);
+ CaptureBaseConstPtr lastCapture(const SizeStd& _track_id) const;
+ CaptureBasePtr lastCapture(const SizeStd& _track_id);
list<SizeStd> trackIds(CaptureBaseConstPtr _capture = nullptr) const;
@@ -128,6 +130,9 @@ class TrackMatrix
TrackConst trackAtKeyframes(const SizeStd& _track_id) const;
Track trackAtKeyframes(const SizeStd& _track_id);
+ // Remove snapshots of captures that are being removed from the problem (e.g. when a keyframe is removed)
+ void cleanSnapshots();
+
private:
static SizeStd track_id_count_;
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index f4dacef75..52ac6c063 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -150,6 +150,17 @@ void TrackMatrix::remove(FeatureBasePtr _ftr)
}
}
+void TrackMatrix::cleanSnapshots()
+{
+ // In two steps to avoid erasing while iterating
+ CaptureBasePtrList removing_captures;
+ for (auto snapshot_pair : snapshots_)
+ if (snapshot_pair.first->isRemoving())
+ removing_captures.push_back(snapshot_pair.first);
+
+ for (auto cap : removing_captures) remove(cap);
+}
+
SizeStd TrackMatrix::numTracks() const
{
return tracks_.size();
@@ -306,6 +317,16 @@ CaptureBasePtr TrackMatrix::firstCapture(const SizeStd& _track_id)
return firstFeature(_track_id)->getCapture();
}
+CaptureBaseConstPtr TrackMatrix::lastCapture(const SizeStd& _track_id) const
+{
+ return lastFeature(_track_id)->getCapture();
+}
+
+CaptureBasePtr TrackMatrix::lastCapture(const SizeStd& _track_id)
+{
+ return lastFeature(_track_id)->getCapture();
+}
+
TrackConst TrackMatrix::trackAtKeyframes(const SizeStd& _track_id) const
{
// We assemble a track_kf on the fly by checking each capture's frame.
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 5f93a4f92..ba583d196 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -334,6 +334,51 @@ TEST_F(TrackMatrixTest, remove_snapshot)
ASSERT_EQ(track_matrix.numTracks(), (unsigned int)0);
}
+TEST_F(TrackMatrixTest, clean_snapshots)
+{
+ f0->link(C0);
+ f1->link(C1);
+ f2->link(C2);
+ f3->link(C1);
+ f4->link(C3);
+ f5->link(C4);
+
+ track_matrix.newTrack(f0);
+ track_matrix.add(f0->trackId(), f1);
+ track_matrix.add(f0->trackId(), f2);
+ track_matrix.add(f0->trackId(), f4);
+ track_matrix.add(f0->trackId(), f5);
+ track_matrix.newTrack(f3);
+ /* KC0 C1 C2 C3 KC4 snapshots
+ *
+ * f0---f1---f2---f4---f5 trk 0
+ * |
+ * f3 trk 1
+ */
+
+ // remove F1 --> remove C1
+ F1->remove();
+
+ track_matrix.cleanSnapshots();
+
+ // Resulting track matrix should be:
+ /* KC0 C2 C3 KC4 snapshots
+ *
+ * f0---f2---f4---f5 trk 0
+ *
+ */
+ ASSERT_EQ(track_matrix.numTracks(), 1);
+ ASSERT_EQ(track_matrix.trackSize(f0->trackId()), 4);
+ ASSERT_EQ(track_matrix.firstFeature(f0->trackId()), f0);
+ ASSERT_EQ(track_matrix.lastFeature(f0->trackId()), f5);
+ ASSERT_EQ(track_matrix.firstCapture(f0->trackId()), C0);
+ ASSERT_EQ(track_matrix.lastCapture(f0->trackId()), C4);
+ ASSERT_EQ(track_matrix.feature(f0->trackId(), C0), f0);
+ ASSERT_EQ(track_matrix.feature(f0->trackId(), C2), f2);
+ ASSERT_EQ(track_matrix.feature(f0->trackId(), C3), f4);
+ ASSERT_EQ(track_matrix.feature(f0->trackId(), C4), f5);
+}
+
TEST_F(TrackMatrixTest, track)
{
f0->link(C0);
--
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