features.py 文件源码

def process_matches(self, matches, f0, f1):
        """Process matches

        Parameters
        ----------
        matches : Tuple of float
            (feature track id, feature index)
        f0 : List of Features
            Reference features
        f1 : List of Features
            Current features

        """
        tracks_updated = {}

        # Update or add feature track
        for i in range(len(matches)):
            f0_idx, f1_idx = matches[i]
            feature0 = f0[f0_idx]
            feature1 = f1[f1_idx]

            if feature0.track_id is not None:
                self.update_track(feature0.track_id, feature1)
                self.debug("Update track [%d]" % feature0.track_id)
            else:
                self.add_track(feature0, feature1)
                self.debug("Add track [%d]" % feature0.track_id)

            tracks_updated[feature0.track_id] = 1

        # Drop dead feature tracks
        tracks_tracking = list(self.tracks_tracking)
        for i in range(len(self.tracks_tracking)):
            track_id = tracks_tracking[i]
            if track_id not in tracks_updated:
                self.remove_track(track_id, True)

        self.debug("Tracking: " + str(self.tracks_tracking))
        self.debug("Lost: " + str(self.tracks_lost))
        self.debug("Buffer: " + str(self.tracks_buffer))
        self.debug("")