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Commit fe15a61f authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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removed methods, new api for trackIds and gtest

parent 768795c7
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2 merge requests!451After cmake and const refactor,!449Resolve "TrackMatrix API"
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    Stage: deploy_ros
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      include/core/processor/track_matrix.h
      + 33
      − 34
      View file @ fe15a61f
      ......@@ -45,8 +45,8 @@ using std::list;
      using std::pair;
      using std::shared_ptr;
      typedef map<TimeStamp, FeatureBasePtr> Track;
      typedef map<TimeStamp, FeatureBaseConstPtr> TrackConst;
      typedef map<TimeStamp, FeatureBasePtr> Track;
      typedef map<TimeStamp, FeatureBaseConstPtr> TrackConst;
      typedef map<SizeStd, FeatureBasePtr > Snapshot;
      typedef map<SizeStd, FeatureBaseConstPtr > SnapshotConst;
      typedef map<SizeStd, pair<FeatureBasePtr, FeatureBasePtr> > TrackMatches; // matched feature pairs indexed by track_id
      ......@@ -102,41 +102,40 @@ class TrackMatrix
      TrackMatrix();
      virtual ~TrackMatrix();
      void newTrack (FeatureBasePtr _ftr);
      void add (const SizeStd& _track_id, const FeatureBasePtr& _ftr);
      void add (const FeatureBasePtr& _ftr_existing, const FeatureBasePtr& _ftr_new);
      void remove (FeatureBasePtr _ftr);
      void remove (const SizeStd& _track_id);
      void remove (CaptureBasePtr _cap);
      SizeStd numTracks () const;
      SizeStd trackSize (const SizeStd& _track_id) const;
      TrackConst track (const SizeStd& _track_id) const;
      Track track (const SizeStd& _track_id);
      SnapshotConst snapshot (CaptureBaseConstPtr _capture) const;
      Snapshot snapshot (CaptureBasePtr _capture);
      void newTrack (FeatureBasePtr _ftr);
      void add (const SizeStd& _track_id, const FeatureBasePtr& _ftr);
      void add (const FeatureBasePtr& _ftr_existing, const FeatureBasePtr& _ftr_new);
      void remove (FeatureBasePtr _ftr);
      void remove (const SizeStd& _track_id);
      void remove (CaptureBasePtr _cap);
      SizeStd numTracks () const;
      SizeStd trackSize (const SizeStd& _track_id) const;
      TrackConst track (const SizeStd& _track_id) const;
      Track track (const SizeStd& _track_id);
      SnapshotConst snapshot (CaptureBaseConstPtr _capture) const;
      Snapshot snapshot (CaptureBasePtr _capture);
      vector<FeatureBaseConstPtr> trackAsVector(const SizeStd& _track_id) const;
      vector<FeatureBasePtr> trackAsVector(const SizeStd& _track_id);
      FeatureBaseConstPtrList snapshotAsList(CaptureBaseConstPtr _cap) const;
      FeatureBasePtrList snapshotAsList(CaptureBasePtr _cap);
      TrackMatchesConst matches (CaptureBaseConstPtr _cap_1, CaptureBaseConstPtr _cap_2) const;
      TrackMatches matches (CaptureBasePtr _cap_1, CaptureBasePtr _cap_2);
      FeatureBaseConstPtr firstFeature(const SizeStd& _track_id) const;
      FeatureBasePtr firstFeature(const SizeStd& _track_id);
      FeatureBaseConstPtr lastFeature (const SizeStd& _track_id) const;
      FeatureBasePtr lastFeature (const SizeStd& _track_id);
      FeatureBaseConstPtr feature (const SizeStd& _track_id, CaptureBaseConstPtr _cap) const;
      FeatureBasePtr feature (const SizeStd& _track_id, CaptureBasePtr _cap);
      CaptureBaseConstPtr firstCapture(const SizeStd& _track_id) const;
      CaptureBasePtr firstCapture(const SizeStd& _track_id);
      list<SizeStd> trackIds() const;
      vector<FeatureBasePtr> trackAsVector(const SizeStd& _track_id);
      FeatureBaseConstPtrList snapshotAsList(CaptureBaseConstPtr _cap) const;
      FeatureBasePtrList snapshotAsList(CaptureBasePtr _cap);
      TrackMatchesConst matches (CaptureBaseConstPtr _cap_1, CaptureBaseConstPtr _cap_2) const;
      TrackMatches matches (CaptureBasePtr _cap_1, CaptureBasePtr _cap_2);
      FeatureBaseConstPtr firstFeature(const SizeStd& _track_id) const;
      FeatureBasePtr firstFeature(const SizeStd& _track_id);
      FeatureBaseConstPtr lastFeature (const SizeStd& _track_id) const;
      FeatureBasePtr lastFeature (const SizeStd& _track_id);
      FeatureBaseConstPtr feature (const SizeStd& _track_id, CaptureBaseConstPtr _cap) const;
      FeatureBasePtr feature (const SizeStd& _track_id, CaptureBasePtr _cap);
      CaptureBaseConstPtr firstCapture(const SizeStd& _track_id) const;
      CaptureBasePtr firstCapture(const SizeStd& _track_id);
      list<SizeStd> trackIds(CaptureBaseConstPtr _capture = nullptr) const;
      // tracks across captures that belong to keyframe
      TrackConst trackAtKeyframes(const SizeStd& _track_id) const;
      Track trackAtKeyframes(const SizeStd& _track_id);
      const map<SizeStd, Track>& getTracks() {return tracks_;}
      const map<CaptureBasePtr, Snapshot >& getSnapshots() {return snapshots_;}
      TrackConst trackAtKeyframes(const SizeStd& _track_id) const;
      Track trackAtKeyframes(const SizeStd& _track_id);
      private:
      ......
      src/processor/track_matrix.cpp
      + 17
      − 3
      View file @ fe15a61f
      ......@@ -369,12 +369,26 @@ Track TrackMatrix::trackAtKeyframes(const SizeStd& _track_id)
      return Track();
      }
      list<SizeStd> TrackMatrix::trackIds() const
      list<SizeStd> TrackMatrix::trackIds(CaptureBaseConstPtr _capture) const
      {
      list<SizeStd> track_ids;
      for (auto track : tracks_)
      if (not _capture)
      for (auto track_pair : tracks_)
      track_ids.push_back(track_pair.first);
      else
      {
      track_ids.push_back(track.first);
      auto it = std::find_if(snapshots_.begin(),
      snapshots_.end(),
      [_capture](const std::pair<CaptureBasePtr, Snapshot>& pair)
      {
      return pair.first == _capture;
      }
      );
      if (it != snapshots_.end())
      for (auto track_pair : it->second)
      track_ids.push_back(track_pair.first);
      }
      return track_ids;
      }
      ......
      test/gtest_track_matrix.cpp
      + 33
      − 1
      View file @ fe15a61f
      ......@@ -42,7 +42,7 @@ class TrackMatrixTest : public testing::Test
      FrameBasePtr F0, F1, F2, F3, F4;
      CaptureBasePtr C0, C1, C2, C3, C4;
      FeatureBasePtr f0, f1, f2, f3, f4;
      FeatureBasePtr f0, f1, f2, f3, f4, f5;
      ProblemPtr problem;
      void SetUp() override
      ......@@ -71,6 +71,7 @@ class TrackMatrixTest : public testing::Test
      f2 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
      f3 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
      f4 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
      f5 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
      // F0 and F4 are keyframes
      F0->link(problem);
      ......@@ -507,6 +508,37 @@ TEST_F(TrackMatrixTest, trackAtKeyframes)
      ASSERT_EQ(trk_kf_1.size(), 0);
      }
      TEST_F(TrackMatrixTest, trackIds)
      {
      f0->link(C0);
      f1->link(C1);
      f2->link(C1);
      f3->link(C1);
      f4->link(C2);
      f5->link(C2);
      track_matrix.newTrack(f0);
      track_matrix.add(f0->trackId(), f1);
      track_matrix.newTrack(f2);
      track_matrix.newTrack(f3);
      track_matrix.add(f0->trackId(), f4);
      track_matrix.add(f2->trackId(), f5);
      /* KC0 C1 C2
      *
      * f0---f1---f4 trk 0
      * | |
      * f2---f5 trk 1
      * |
      * f3 trk 2
      */
      ASSERT_EQ(track_matrix.trackIds().size(), 3);
      ASSERT_EQ(track_matrix.trackIds(C0).size(), 1);
      ASSERT_EQ(track_matrix.trackIds(C1).size(), 3);
      ASSERT_EQ(track_matrix.trackIds(C2).size(), 2);
      }
      int main(int argc, char **argv)
      {
      ......
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