Matrix of tracked features, by track and by snapshot (Captures or time stamps) This class implements the following data structure: More...

#include <core/processor/track_matrix.h>

Public Member Functions
	TrackMatrix ()

virtual	~TrackMatrix ()

void	newTrack (FeatureBasePtr _ftr)

void	add (const SizeStd &_track_id, const FeatureBasePtr &_ftr)

void	add (const FeatureBasePtr &_ftr_existing, const FeatureBasePtr &_ftr_new)

void	remove (FeatureBasePtr _ftr)

void	remove (const SizeStd &_track_id)

void	remove (CaptureBasePtr _cap)

SizeStd	numTracks () const

SizeStd	trackSize (const SizeStd &_track_id) const

TrackConst	track (const SizeStd &_track_id) const

Track	track (const SizeStd &_track_id)

SnapshotConst	snapshot (CaptureBaseConstPtr _capture) const

Snapshot	snapshot (CaptureBasePtr _capture)

vector< FeatureBaseConstPtr >	trackAsVector (const SizeStd &_track_id) const

vector< FeatureBasePtr >	trackAsVector (const SizeStd &_track_id)

FeatureBaseConstPtrList	snapshotAsList (CaptureBaseConstPtr _cap) const

FeatureBasePtrList	snapshotAsList (CaptureBasePtr _cap)

TrackMatchesConst	matches (CaptureBaseConstPtr _cap_1, CaptureBaseConstPtr _cap_2) const

TrackMatches	matches (CaptureBasePtr _cap_1, CaptureBasePtr _cap_2)

FeatureBaseConstPtr	firstFeature (const SizeStd &_track_id) const

FeatureBasePtr	firstFeature (const SizeStd &_track_id)

FeatureBaseConstPtr	lastFeature (const SizeStd &_track_id) const

FeatureBasePtr	lastFeature (const SizeStd &_track_id)

FeatureBaseConstPtr	feature (const SizeStd &_track_id, CaptureBaseConstPtr _cap) const

FeatureBasePtr	feature (const SizeStd &_track_id, CaptureBasePtr _cap)

CaptureBaseConstPtr	firstCapture (const SizeStd &_track_id) const

CaptureBasePtr	firstCapture (const SizeStd &_track_id)

CaptureBaseConstPtr	lastCapture (const SizeStd &_track_id) const

CaptureBasePtr	lastCapture (const SizeStd &_track_id)

list< SizeStd >	trackIds (CaptureBaseConstPtr _capture=nullptr) const

TrackConst	trackAtKeyframes (const SizeStd &_track_id) const

Track	trackAtKeyframes (const SizeStd &_track_id)

void	cleanSnapshots ()

Detailed Description

Matrix of tracked features, by track and by snapshot (Captures or time stamps) This class implements the following data structure:

Snapshots at each capture Cx: C1 C2 C3 C4 C5 Tracks for each matched feature: f1 — f3 — f7 — f11 – f14 <– track 1, of corresponding features in different captures | | | | | | f4 — f8 — f12 – f15 <– track 2 | | | | | f5 — f9 — f13 <– track 3 | | | f2 — f6 — f10 <– track 4

Each 'f' is a feature pointer of the type FeatureBasePtr

This structure allows accessing all the history of matched features with two different accesses:

 Track:    track-wise:   a track of features matches along a timely sequence of Captures, indexed by time stamp.

                         map<TimeStamp ts, FeatureBasePtr f>

 Snapshot: capture-wise: a set of features tracked in a single Capture, indexed by track id:

                         map<SizeStd track_id, FeatureBasePtr f>

The class makes sure that both accesses are consistent each time some addition or removal of features is performed.

The storage is implemented as two maps of maps, so each addition and removal of single features is accomplished in logarithmic time:

 Tracks are identified with the track ID in           f->trackId()
 Snapshots are identified with the Capture pointer in f->getCapture()

these fields of FeatureBase are initialized each time a feature is added to the track matrix:

 add(Cap, track_id, f) will set f.capture_ptr = C and f.track_id = track_id.

so e.g. given a feature f,

 getTrack   (f->trackId()) ;       // returns all the track where feature f is.
 getSnapshot(f->getCapture()) ;    // returns all the features in the same capture of f.

Constructor & Destructor Documentation

◆ TrackMatrix()

wolf::TrackMatrix::TrackMatrix ( )

◆ ~TrackMatrix()

wolf::TrackMatrix::~TrackMatrix ( )

virtual

Member Function Documentation

◆ add() [1/2]

void wolf::TrackMatrix::add	(	const FeatureBasePtr &	_ftr_existing,
		const FeatureBasePtr &	_ftr_new
	)

◆ add() [2/2]

void wolf::TrackMatrix::add	(	const SizeStd &	_track_id,
		const FeatureBasePtr &	_ftr
	)

◆ cleanSnapshots()

void wolf::TrackMatrix::cleanSnapshots ( )

◆ feature() [1/2]

FeatureBaseConstPtr wolf::TrackMatrix::feature	(	const SizeStd &	_track_id,
		CaptureBaseConstPtr	_cap
	)		const

◆ feature() [2/2]

FeatureBasePtr wolf::TrackMatrix::feature	(	const SizeStd &	_track_id,
		CaptureBasePtr	_cap
	)

◆ firstCapture() [1/2]

CaptureBasePtr wolf::TrackMatrix::firstCapture ( const SizeStd & _track_id )

◆ firstCapture() [2/2]

CaptureBaseConstPtr wolf::TrackMatrix::firstCapture ( const SizeStd & _track_id ) const

◆ firstFeature() [1/2]

FeatureBasePtr wolf::TrackMatrix::firstFeature ( const SizeStd & _track_id )

◆ firstFeature() [2/2]

FeatureBaseConstPtr wolf::TrackMatrix::firstFeature ( const SizeStd & _track_id ) const

◆ lastCapture() [1/2]

CaptureBasePtr wolf::TrackMatrix::lastCapture ( const SizeStd & _track_id )

◆ lastCapture() [2/2]

CaptureBaseConstPtr wolf::TrackMatrix::lastCapture ( const SizeStd & _track_id ) const

◆ lastFeature() [1/2]

FeatureBasePtr wolf::TrackMatrix::lastFeature ( const SizeStd & _track_id )

◆ lastFeature() [2/2]

FeatureBaseConstPtr wolf::TrackMatrix::lastFeature ( const SizeStd & _track_id ) const

◆ matches() [1/2]

TrackMatchesConst wolf::TrackMatrix::matches	(	CaptureBaseConstPtr	_cap_1,
		CaptureBaseConstPtr	_cap_2
	)		const

◆ matches() [2/2]

TrackMatches wolf::TrackMatrix::matches	(	CaptureBasePtr	_cap_1,
		CaptureBasePtr	_cap_2
	)

◆ newTrack()

void wolf::TrackMatrix::newTrack ( FeatureBasePtr _ftr )

◆ numTracks()

SizeStd wolf::TrackMatrix::numTracks ( ) const

◆ remove() [1/3]

void wolf::TrackMatrix::remove ( CaptureBasePtr _cap )

◆ remove() [2/3]

void wolf::TrackMatrix::remove ( const SizeStd & _track_id )

◆ remove() [3/3]

void wolf::TrackMatrix::remove ( FeatureBasePtr _ftr )

◆ snapshot() [1/2]

SnapshotConst wolf::TrackMatrix::snapshot ( CaptureBaseConstPtr _capture ) const

◆ snapshot() [2/2]

Snapshot wolf::TrackMatrix::snapshot ( CaptureBasePtr _capture )

◆ snapshotAsList() [1/2]

FeatureBaseConstPtrList wolf::TrackMatrix::snapshotAsList ( CaptureBaseConstPtr _cap ) const

◆ snapshotAsList() [2/2]

FeatureBasePtrList wolf::TrackMatrix::snapshotAsList ( CaptureBasePtr _cap )

◆ track() [1/2]

Track wolf::TrackMatrix::track ( const SizeStd & _track_id )

◆ track() [2/2]

TrackConst wolf::TrackMatrix::track ( const SizeStd & _track_id ) const

◆ trackAsVector() [1/2]

vector< FeatureBasePtr > wolf::TrackMatrix::trackAsVector ( const SizeStd & _track_id )

◆ trackAsVector() [2/2]

vector< FeatureBaseConstPtr > wolf::TrackMatrix::trackAsVector ( const SizeStd & _track_id ) const

◆ trackAtKeyframes() [1/2]

Track wolf::TrackMatrix::trackAtKeyframes ( const SizeStd & _track_id )

◆ trackAtKeyframes() [2/2]

TrackConst wolf::TrackMatrix::trackAtKeyframes ( const SizeStd & _track_id ) const

◆ trackIds()

list< SizeStd > wolf::TrackMatrix::trackIds ( CaptureBaseConstPtr _capture = nullptr ) const

◆ trackSize()

SizeStd wolf::TrackMatrix::trackSize ( const SizeStd & _track_id ) const

The documentation for this class was generated from the following files:

include/core/processor/track_matrix.h
src/processor/track_matrix.cpp

Public Member Functions