/// Get feature index PerView and TrackId
static bool GetFeatIndexPerViewAndTrackId
(
const STLMAPTracks & map_tracks,
const std::set<size_t> & set_trackId,
size_t nImageIndex,
std::vector<size_t> * pvec_featIndex
)
{
for (const size_t & trackId: set_trackId)
{
STLMAPTracks::const_iterator iterT = map_tracks.find(trackId);
if (iterT != map_tracks.end())
{
//try to find imageIndex
const submapTrack & map_ref = iterT->second;
submapTrack::const_iterator iterSearch = map_ref.find(nImageIndex);
if (iterSearch != map_ref.end())
{
pvec_featIndex->emplace_back(iterSearch->second);
}
}
}
return !pvec_featIndex->empty();
}
/// Get feature index PerView and TrackId
static bool GetFeatIndexPerViewAndTrackId
(
const STLMAPTracks & tracks,
const std::set<uint32_t> & track_ids,
size_t nImageIndex,
std::vector<uint32_t> * feat_ids
)
{
feat_ids->reserve(tracks.size());
for (const uint32_t & trackId: track_ids)
{
const auto iterT = tracks.find(trackId);
if (iterT != tracks.end())
{
// Look if the desired image index exists in the track visibility
const auto iterSearch = iterT->second.find(nImageIndex);
if (iterSearch != iterT->second.end())
{
feat_ids->emplace_back(iterSearch->second);
}
}
}
return !feat_ids->empty();
}