From 9c77e67260f01a4a7eebd52e4e31836e1a906301 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Mon, 2 May 2022 16:29:05 +0200
Subject: [PATCH] removed duplicated maps for const in track_matrix
---
include/core/processor/track_matrix.h | 4 --
src/processor/track_matrix.cpp | 63 ++++++++++++++-------------
2 files changed, 32 insertions(+), 35 deletions(-)
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 215f02060..f6974afba 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -142,13 +142,9 @@ class TrackMatrix
// tracks across all Captures
map<SizeStd, Track > tracks_; // map indexed by track_Id of ( maps indexed by TimeStamp of ( features ) )
- map<SizeStd, TrackConst > tracks_const_; // 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 ) )
- map<CaptureBaseConstPtr, SnapshotConst > snapshots_const_; // map indexed by capture_ptr of ( maps indexed by track_Id of ( features ) )
};
} /* namespace wolf */
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 6f6e02c3b..ff2fceb34 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -45,10 +45,12 @@ TrackMatrix::~TrackMatrix()
TrackConst TrackMatrix::track(const SizeStd& _track_id) const
{
- if (tracks_const_.count(_track_id) > 0)
- return tracks_const_.at(_track_id);
- else
- return TrackConst();
+ TrackConst track_const;
+ if (tracks_.count(_track_id) > 0)
+ for (auto&& pair : tracks_.at(_track_id))
+ track_const[pair.first]=pair.second;
+
+ return track_const;
}
Track TrackMatrix::track(const SizeStd& _track_id)
@@ -61,10 +63,22 @@ Track TrackMatrix::track(const SizeStd& _track_id)
SnapshotConst TrackMatrix::snapshot(CaptureBaseConstPtr _capture) const
{
- if (_capture && snapshots_const_.count(_capture) > 0)
- return snapshots_const_.at(_capture);
- else
+ const auto& it = std::find_if(snapshots_.begin(),
+ snapshots_.end(),
+ [_capture](const std::pair<CaptureBasePtr, Snapshot>& pair)
+ {
+ return pair.first == _capture;
+ }
+ );
+
+ if (it == snapshots_.end())
return SnapshotConst();
+
+ SnapshotConst snapshot_const;
+ for (auto&& pair : it->second)
+ snapshot_const[pair.first]=pair.second;
+
+ return snapshot_const;
}
Snapshot TrackMatrix::snapshot(CaptureBasePtr _capture)
@@ -88,9 +102,7 @@ void TrackMatrix::add(const SizeStd& _track_id, const FeatureBasePtr& _ftr)
_ftr->setTrackId(_track_id);
tracks_[_track_id].emplace(_ftr->getCapture()->getTimeStamp(), _ftr);
- tracks_const_[_track_id].emplace(_ftr->getCapture()->getTimeStamp(), _ftr);
snapshots_[_ftr->getCapture()].emplace(_track_id, _ftr); // will create new snapshot if _cap_id is not present
- snapshots_const_[_ftr->getCapture()].emplace(_track_id, _ftr); // will create new snapshot if _cap_id is not present
}
void TrackMatrix::add(const FeatureBasePtr& _ftr_existing,const FeatureBasePtr& _ftr_new)
@@ -107,16 +119,12 @@ void TrackMatrix::remove(const SizeStd& _track_id)
{
CaptureBasePtr cap = pair_time_ftr.second->getCapture();
snapshots_.at(cap).erase(_track_id);
- snapshots_const_.at(cap).erase(_track_id);
if (snapshots_.at(cap).empty())
snapshots_.erase(cap);
- if (snapshots_const_.at(cap).empty())
- snapshots_const_.erase(cap);
}
// Remove track
tracks_.erase(_track_id);
- tracks_const_.erase(_track_id);
}
}
@@ -130,16 +138,12 @@ void TrackMatrix::remove(CaptureBasePtr _cap)
{
SizeStd trk_id = pair_trkid_ftr.first;
tracks_.at(trk_id).erase(ts);
- tracks_const_.at(trk_id).erase(ts);
if (tracks_.at(trk_id).empty())
tracks_.erase(trk_id);
- if (tracks_const_.at(trk_id).empty())
- tracks_const_.erase(trk_id);
}
// remove snapshot
snapshots_.erase(_cap);
- snapshots_const_.erase(_cap);
}
}
@@ -153,20 +157,14 @@ void TrackMatrix::remove(FeatureBasePtr _ftr)
if(tracks_.count(_ftr->trackId()) && tracks_.at(_ftr->trackId()).count(cap->getTimeStamp()))
{
tracks_ .at(_ftr->trackId()).erase(cap->getTimeStamp());
- tracks_const_.at(_ftr->trackId()).erase(cap->getTimeStamp());
if (tracks_.at(_ftr->trackId()).empty())
tracks_.erase(_ftr->trackId());
- if (tracks_const_.at(_ftr->trackId()).empty())
- tracks_const_.erase(_ftr->trackId());
}
if(snapshots_.count(cap) && snapshots_.at(cap).count(_ftr->trackId()))
{
snapshots_ .at(cap).erase(_ftr->trackId());
- snapshots_const_.at(cap).erase(_ftr->trackId());
if (snapshots_.at(cap).empty())
snapshots_.erase(cap);
- if (snapshots_const_.at(cap).empty())
- snapshots_const_.erase(cap);
}
}
}
@@ -184,8 +182,8 @@ size_t TrackMatrix::trackSize(const SizeStd& _track_id) const
FeatureBaseConstPtr TrackMatrix::firstFeature(const SizeStd& _track_id) const
{
- if (tracks_const_.count(_track_id) > 0)
- return tracks_const_.at(_track_id).begin()->second;
+ if (tracks_.count(_track_id) > 0)
+ return tracks_.at(_track_id).begin()->second;
else
return nullptr;
}
@@ -200,8 +198,8 @@ FeatureBasePtr TrackMatrix::firstFeature(const SizeStd& _track_id)
FeatureBaseConstPtr TrackMatrix::lastFeature(const SizeStd& _track_id) const
{
- if (tracks_const_.count(_track_id) > 0)
- return tracks_const_.at(_track_id).rbegin()->second;
+ if (tracks_.count(_track_id) > 0)
+ return tracks_.at(_track_id).rbegin()->second;
else
return nullptr;
}
@@ -220,7 +218,7 @@ vector<FeatureBaseConstPtr> TrackMatrix::trackAsVector(const SizeStd& _track_id)
if (tracks_.count(_track_id))
{
vec.reserve(trackSize(_track_id));
- for (auto const& pair_time_ftr : tracks_const_.at(_track_id))
+ for (auto const& pair_time_ftr : tracks_.at(_track_id))
vec.push_back(pair_time_ftr.second);
}
return vec;
@@ -240,10 +238,13 @@ vector<FeatureBasePtr> TrackMatrix::trackAsVector(const SizeStd& _track_id)
FeatureBaseConstPtrList TrackMatrix::snapshotAsList(CaptureBaseConstPtr _cap) const
{
+ SnapshotConst snapshot_const = snapshot(_cap);
+
FeatureBaseConstPtrList lst;
- if (snapshots_const_.count(_cap))
- for (auto const& pair_trkid_ftr : snapshots_const_.at(_cap))
- lst.push_back(pair_trkid_ftr.second);
+
+ for (auto const& pair_trkid_ftr : snapshot_const)
+ lst.push_back(pair_trkid_ftr.second);
+
return lst;
}
--
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