void
AdjacencyRansac::InvalidateQueryIndices(IndexVector &query_indices)
{
if (query_indices.empty())
return;
// Figure out the points with those query indices
std::sort(query_indices.begin(), query_indices.end());
IndexVector::iterator end = std::unique(query_indices.begin(), query_indices.end());
query_indices.resize(end - query_indices.begin());
IndexVector indices_to_remove;
indices_to_remove.reserve(query_indices_.size());
IndexVector::const_iterator iter = query_indices.begin();
BOOST_FOREACH(unsigned int index, valid_indices_){
unsigned int query_index = query_indices_[index];
if (query_index < *iter)
continue;
// If the match has a keypoint in the inliers, remove the match
while ((iter != end) && (query_index > *iter))
++iter;
if (query_index == *iter)
{
indices_to_remove.push_back(index);
continue;
}
if (iter == end)
break;
}
void
TopologyGraph::dumpBoundary(const IndexVector& boundary, const std::string& filename)
{
if (boundary.empty())
return;
osg::Vec3Array* v = new osg::Vec3Array();
for (IndexVector::const_iterator i = boundary.begin(); i != boundary.end(); ++i)
{
const Index& index = *i;
v->push_back(osg::Vec3(index->x(), index->y(), 0));
}
osg::ref_ptr<osg::Geometry> g = new osg::Geometry();
g->setVertexArray(v);
g->addPrimitiveSet(new osg::DrawArrays(GL_LINE_LOOP, 0, v->size()));
g->addPrimitiveSet(new osg::DrawArrays(GL_POINTS, 0, v->size()));
g->getOrCreateStateSet()->setAttributeAndModes(new osg::Point(3));
osgDB::writeNodeFile(*(g.get()), filename);
}