TrackMatrix API

After #448 (closed) and #184 (closed).

Implementation of SnapshotConst TrackMatrix::snapshot(CaptureBaseConstPtr _capture) const ( and FeatureBaseConstPtrList TrackMatrix::snapshotAsList(CaptureBaseConstPtr _cap) const that calls it) is not efficient.

The class could be improved by indexing snapshots by const pointers (CaptureConstPtr) or by capture's id.

added To Do (future) label

I think the way to go is the following:

• Index snapshots by Capture ID
• Add TrackMatrix::trackIds()
• Add TrackMatrix::captureIds()
• Remove TrackMatrix::getTracks()
• Remove TrackMatrix::getSnapshots()

I will start this job by adding to the API on a first stage.

created branch 453-trackmatrix-api to address this issue

mentioned in merge request !449 (merged)

Although another way to go might be the following:

• Index snapshots by CaptureConstPtr
• Fix related API
• Add TrackMatrix::trackIds()
• Add TrackMatrix::snapshotCaps()
• Remove TrackMatrix::getTracks()
• Remove TrackMatrix::getSnapshots()

Could we first merge a minimal version with the same API but with constness issues fixed? The point is that for the moment, this issue is blocking the merging of wolf_ros_vision. If the changes are too intricated, it's ok.

This is doable as a quick fix

I think just the map<CaptureBasePtr, ...> should be changed to map<CaptureBaseConstPtr, ...>

@mederic_fourmy if you want to go this way go ahead. Leave this issue open though

The thing is, we do not like these two fncs added to the API

• getSnapshots()
• getTracks()

so they will be removed.

Doing the full changes in the proposals above is not a big deal either, but we need to discuss it a bit and agree on a solution

Final decision:

Only remove the following

• getTracks()
• getSnapshots()

The rest of issues are handled by the double API const / nonconst that is already pushed in core.

added Doing label

removed To Do (future) label

closed with merge request !449 (merged)

mentioned in commit 627f138e