/**
* @brief Convert a trackId to a vector of indexed Matches.
*
* @param[in] map_tracks: set of tracks with only 2 elements
* (image A and image B) in each submapTrack.
* @param[in] vec_filterIndex: the track indexes to retrieve.
* Only track indexes contained in this filter vector are kept.
* @param[out] pvec_index: list of matches
* (feature index in image A, feature index in image B).
*
* @warning The input tracks must be composed of only two images index.
* @warning Image index are considered sorted (increasing order).
*/
static void TracksToIndexedMatches
(
const STLMAPTracks & map_tracks,
const std::vector<IndexT> & vec_filterIndex,
std::vector<IndMatch> * pvec_index
)
{
std::vector<IndMatch> & vec_indexref = *pvec_index;
vec_indexref.clear();
for ( const auto & filter_index : vec_filterIndex )
{
// Retrieve the track information from the current index i.
auto itF =
find_if(map_tracks.begin(), map_tracks.end(), FunctorMapFirstEqual( filter_index ) ) ;
// The current track.
const submapTrack & map_ref = itF->second;
// We have 2 elements for a track.
assert(map_ref.size() == 2);
const IndexT indexI = (map_ref.begin())->second;
const IndexT indexJ = (++map_ref.begin())->second;
vec_indexref.emplace_back(indexI, indexJ);
}
}
/**
* @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 (STLMAPTracks::const_iterator iterT = map_tracksIn.begin();
iterT != map_tracksIn.end(); ++iterT)
{
// Look if the track contains the provided view index & save the point ids
submapTrack map_temp;
bool bTest = true;
for (std::set<size_t>::const_iterator iterIndex = set_imageIndex.begin();
iterIndex != set_imageIndex.end() && bTest; ++iterIndex)
{
submapTrack::const_iterator 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();
}
/**
* @brief Convert a trackId to a vector of indexed Matches.
*
* @param[in] map_tracks: set of tracks with only 2 elements
* (image A and image B) in each submapTrack.
* @param[in] vec_filterIndex: the track indexes to retrieve.
* Only track indexes contained in this filter vector are kept.
* @param[out] pvec_index: list of matches
* (feature index in image A, feature index in image B).
*
* @warning The input tracks must be composed of only two images index.
* @warning Image index are considered sorted (increasing order).
*/
static void TracksToIndexedMatches
(
const STLMAPTracks & map_tracks,
const std::vector<IndexT> & vec_filterIndex,
std::vector<matching::IndMatch> * pvec_index
)
{
std::vector<matching::IndMatch> & vec_indexref = *pvec_index;
vec_indexref.clear();
for ( const auto & id : vec_filterIndex )
{
// Retrieve the track information from the current index id.
auto itF =
find_if(
map_tracks.begin(), map_tracks.end(),
[id] (const std::pair<uint32_t, submapTrack> & s) { return (id == s.first); }
);
// The current track.
const submapTrack & map_ref = itF->second;
// We have 2 elements for a track.
assert(map_ref.size() == 2);
const IndexT indexI = (map_ref.begin())->second;
const IndexT indexJ = (++map_ref.begin())->second;
vec_indexref.emplace_back(indexI, indexJ);
}
}
/// Return the tracksId as a set (sorted increasing)
static void GetTracksIdVector(
const STLMAPTracks & map_tracks,
std::set<size_t> * set_tracksIds)
{
set_tracksIds->clear();
for (STLMAPTracks::const_iterator iterT = map_tracks.begin();
iterT != map_tracks.end(); ++iterT)
{
set_tracksIds->insert(iterT->first);
}
}
/// Return a set containing the image Id considered in the tracks container.
static void ImageIdInTracks(const STLMAPTracks & map_tracks,
std::set<size_t> & set_imagesId)
{
for (STLMAPTracks::const_iterator iterT = map_tracks.begin();
iterT != map_tracks.end(); ++iterT)
{
const submapTrack & map_ref = iterT->second;
for (submapTrack::const_iterator iter = map_ref.begin();
iter != map_ref.end();
++iter)
{
set_imagesId.insert(iter->first);
}
}
}
/// Return the occurrence of tracks length.
static void TracksLength(const STLMAPTracks & map_tracks,
std::map<size_t, size_t> & map_Occurence_TrackLength)
{
for (STLMAPTracks::const_iterator iterT = map_tracks.begin();
iterT != map_tracks.end(); ++iterT)
{
const size_t trLength = iterT->second.size();
if (map_Occurence_TrackLength.end() ==
map_Occurence_TrackLength.find(trLength))
{
map_Occurence_TrackLength[trLength] = 1;
}
else
{
map_Occurence_TrackLength[trLength] += 1;
}
}
}
/// 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 (STLMAPTracks::const_iterator iterT = map_tracks.begin();
iterT != map_tracks.end(); ++iterT)
{
const size_t trackId = iterT->first;
if (set_trackId.find(trackId) != set_trackId.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();
}