示例#1
0
  /**
   * @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();
  }
示例#2
0
 /// 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);
     }
   }
 }
示例#3
0
  /**
   * @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();
  }