/**
* @brief Find common tracks between images.
*
* @param[in] set_imageIndex: set of images we are looking for common tracks
* @param[in] map_tracksIn: all tracks of the scene
* @param[out] map_tracksOut: output with only the common tracks
*/
static bool GetTracksInImages
(
const std::set<size_t> & set_imageIndex,
const STLMAPTracks & map_tracksIn,
STLMAPTracks & map_tracksOut
)
{
map_tracksOut.clear();
// Go along the tracks
for ( const auto & iterT : map_tracksIn )
{
// Look if the track contains the provided view index & save the point ids
submapTrack map_temp;
bool bTest = true;
for (auto iterIndex = set_imageIndex.begin();
iterIndex != set_imageIndex.end() && bTest; ++iterIndex)
{
auto iterSearch = iterT.second.find(*iterIndex);
if (iterSearch != iterT.second.end())
map_temp[iterSearch->first] = iterSearch->second;
else
bTest = false;
}
if (!map_temp.empty() && map_temp.size() == set_imageIndex.size())
map_tracksOut[iterT.first] = std::move(map_temp);
}
return !map_tracksOut.empty();
}
/// Export tracks as a map (each entry is a sequence of imageId and featureIndex):
/// {TrackIndex => {(imageIndex, featureIndex), ... ,(imageIndex, featureIndex)}
void ExportToSTL(STLMAPTracks & map_tracks)
{
map_tracks.clear();
for (unsigned int k = 0; k < map_node_to_index.size(); ++k)
{
const auto & feat = map_node_to_index[k];
const unsigned int track_id = uf_tree.m_cc_parent[k];
if
(
// ensure never add rejected elements (track marked as invalid)
track_id != std::numeric_limits<unsigned int>::max()
// ensure never add 1-length track element (it's not a track)
&& uf_tree.m_cc_size[track_id] > 1
)
{
map_tracks[track_id].insert(feat.first);
}
}
}
/**
* @brief Find the shared tracks between some images ids.
*
* @param[in] image_ids: images id to consider
* @param[out] tracks: tracks shared by the input images id
*/
bool GetTracksInImages
(
const std::set<uint32_t> & image_ids,
STLMAPTracks & tracks
)
{
tracks.clear();
if (image_ids.empty())
return false;
// Collect the shared tracks ids by the views
std::set<uint32_t> common_track_ids;
{
// Compute the intersection of all the track ids of the view's track ids.
// 1. Initialize the track_id with the view first tracks
// 2. Iteratively collect the common id of the remaining requested view
auto image_index_it = image_ids.cbegin();
if (track_ids_per_view_.count(*image_index_it))
{
common_track_ids = track_ids_per_view_[*image_index_it];
}
bool merged = false;
std::advance(image_index_it, 1);
while (image_index_it != image_ids.cend())
{
if (track_ids_per_view_.count(*image_index_it))
{
const auto ids_per_view_it = track_ids_per_view_.find(*image_index_it);
const auto & track_ids = ids_per_view_it->second;
std::set<uint32_t> tmp;
std::set_intersection(
common_track_ids.cbegin(), common_track_ids.cend(),
track_ids.cbegin(), track_ids.cend(),
std::inserter(tmp, tmp.begin()));
common_track_ids.swap(tmp);
merged = true;
}
std::advance(image_index_it, 1);
}
if (image_ids.size() > 1 && !merged)
{
// If more than one image id is required and no merge operation have been done
// we need to reset the common track id
common_track_ids.clear();
}
}
// Collect the selected {img id, feat id} data for the shared track ids
for (const auto track_ids_it : common_track_ids)
{
const auto track_it = tracks_.find(track_ids_it);
const auto & track = track_it->second;
// Find the corresponding output track and update it
submapTrack& trackFeatsOut = tracks[track_it->first];
for (const auto img_index: image_ids)
{
const auto track_view_info = track.find(img_index);
trackFeatsOut[img_index] = track_view_info->second;
}
}
return !tracks.empty();
}