inline size_t trackFeatures_deleteOOB_impl_simple_feat(
FEATLIST &trackedFeats,
const size_t img_width, const size_t img_height,
const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
{
if (trackedFeats.empty()) return 0;
std::vector<size_t> survival_idxs;
const size_t N = trackedFeats.size();
// 1st: Build list of survival indexes:
survival_idxs.reserve(N);
for (size_t i=0;i<N;i++)
{
const typename FEATLIST::feature_t &ft = trackedFeats[i];
const TFeatureTrackStatus status = ft.track_status;
bool eras = (status_TRACKED!=status && status_IDLE!=status);
if (!eras)
{
// Also, check if it's too close to the image border:
const int x= ft.pt.x;
const int y= ft.pt.y;
if (x<MIN_DIST_MARGIN_TO_STOP_TRACKING || y<MIN_DIST_MARGIN_TO_STOP_TRACKING ||
x>static_cast<int>(img_width-MIN_DIST_MARGIN_TO_STOP_TRACKING) ||
y>static_cast<int>(img_height-MIN_DIST_MARGIN_TO_STOP_TRACKING))
{
eras = true;
}
}
if (!eras) survival_idxs.push_back(i);
}
// 2nd: Build updated list:
const size_t N2 = survival_idxs.size();
const size_t n_removed = N-N2;
for (size_t i=0;i<N2;i++)
{
if (survival_idxs[i]!=i)
trackedFeats[i] = trackedFeats[ survival_idxs[i] ];
}
trackedFeats.resize(N2);
return n_removed;
} // end of trackFeatures_deleteOOB
