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switch feature mountain tracker to FolderDict #1008

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switch feature mountain tracker to FolderDict #1008

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1 change: 1 addition & 0 deletions NEWS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ Major changes and news in Caesar.jl.
- Several compat updates for dependencies.
- Restore Docs build, and update links for NavAbility at WhereWhen.ai Technologies Inc.
- Introduce `FolderDict` as data structure for lower memory consumption, also as potential BlobStore.
- Refactor FeatureMountain tracker to use `FolderDict`.

## Changes in v0.13

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2 changes: 2 additions & 0 deletions ext/CaesarImagesExt.jl
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Expand Up @@ -40,6 +40,8 @@ import Caesar: addFeatureTracks_Frame1_Q!, addFeatureTracks_Frame2_PfwdQ!, addFe
import Caesar: addFeatureTracks, consolidateFeatureTracks!, summarizeFeatureTracks!, buildFeatureMountain, buildFeatureMountainDistributed
import Caesar: unionFeatureMountain, sortKeysMinSighting

import Caesar: FolderDict

# NOTE usage requires ImageFeatures.jl
import Caesar: curateFeatureTracks

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51 changes: 17 additions & 34 deletions ext/Images/FeatureMountain.jl
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Original file line number Diff line number Diff line change
@@ -1,19 +1,21 @@


FEATUREMOUNTAIN_DICT = Dict{Tuple{Symbol,Int},MANYTRACKS}
FEATUREMOUNTAIN_DIRDICT = FolderDict{Tuple{Symbol,Int},MANYTRACKS}

FEATUREMOUNTAINTYPES = Union{
<:FEATUREMOUNTAIN_DICT,
<:FEATUREMOUNTAIN_DIRDICT
}


function addFeatureTracks_Frame1_Q!(
# mountain::FeatureMountain,
featToMany,
dfg::AbstractDFG,
vlb_q::Symbol;
trackBlobKey = r"IMG_FEATURE_TRACKS_FWDBCK",
)
#
# if !haskey(mountain, 1)
# mountain[1] = FeatureTracks()
# end
eb = getData(dfg,vlb_q,trackBlobKey)
if isnothing(eb)
return featToMany
Expand All @@ -26,9 +28,6 @@ function addFeatureTracks_Frame1_Q!(
pixel = (meas[1],meas[2])
from = (vlb_q,featidx, pixel)
to = (vlb_q,featidx, pixel)
# # legcay
# mountain[1][track_id] = FeaturesDict()
# mountain[1][track_id][vlb_q] = (;from, to)

# featToMany container
fromkey = (from[1],from[2])
Expand All @@ -43,12 +42,10 @@ function addFeatureTracks_Frame1_Q!(
end

return featToMany
# return mountain
end


function addFeatureTracks_Frame2_PfwdQ!(
# mountain::FeatureMountain,
featToMany,
dfg::AbstractDFG,
vlb_pq,
Expand All @@ -57,10 +54,6 @@ function addFeatureTracks_Frame2_PfwdQ!(
imgBlobKey = r"cam"
)

# if !haskey(mountain, 2)
# mountain[2] = FeatureTracks()
# end

vlb_p, vlb_q = vlb_pq[1], vlb_pq[2]

ie_ib = getData(dfg, vlb_q, imgBlobKey)
Expand All @@ -86,10 +79,6 @@ function addFeatureTracks_Frame2_PfwdQ!(
pixel_q = tuple(trk_pP1_q0[2]...)
from = (vlb_p, i_pP1_q0[1], pixel_p)
to = (vlb_q, i_pP1_q0[2], pixel_q)
# # legacy
# mountain[2][track_id] = FeaturesDict()
# mountain[2][track_id][vlb_p] = (;from, to)
# mountain[2][track_id][vlb_q] = (;from, to)

# featToMany container
fromkey = (from[1],from[2])
Expand All @@ -104,12 +93,10 @@ function addFeatureTracks_Frame2_PfwdQ!(
end

return featToMany
# return mountain
end


function addFeatureTracks_Frame2_QbckR!(
# mountain::FeatureMountain,
featToMany,
dfg::AbstractDFG,
vlb_qr,
Expand All @@ -118,10 +105,6 @@ function addFeatureTracks_Frame2_QbckR!(
imgBlobKey = r"cam"
)

# if !haskey(mountain, 2)
# mountain[2] = FeatureTracks()
# end

vlb_q, vlb_r = vlb_qr[1], vlb_qr[2]

ie_ib = getData(dfg, vlb_q, imgBlobKey)
Expand Down Expand Up @@ -151,10 +134,6 @@ function addFeatureTracks_Frame2_QbckR!(
pixel_q = tuple(trk_rN1_q0[2]...)
from = (vlb_r, i_rN1_q0[1], pixel_r)
to = (vlb_q, i_rN1_q0[2], pixel_q)
# # legacy
# mountain[2][track_id] = FeaturesDict()
# mountain[2][track_id][vlb_r] = (; from, to)
# mountain[2][track_id][vlb_q] = (; from, to)

# featToMany container
fromkey = (from[1],from[2])
Expand All @@ -169,7 +148,6 @@ function addFeatureTracks_Frame2_QbckR!(
end

return featToMany
# return mountain
end

# # require both forward and backward tracks to coincide
Expand Down Expand Up @@ -246,7 +224,8 @@ function addFeatureTracks(
imgBlobKey = r"cam"
)
#
featToMany_ = Dict{Tuple{Symbol,Int},MANYTRACKS}()
featToMany_ = FEATUREMOUNTAIN_DIRDICT()
# featToMany_ = FEATUREMOUNTAIN_DICT() # Dict{Tuple{Symbol,Int},MANYTRACKS}()

lastlbl = :null
@showprogress "feature pairs" for pair in pairs
Expand Down Expand Up @@ -282,7 +261,7 @@ end


function consolidateFeatureTracks!(
featToMany_::Dict{Tuple{Symbol,Int},MANYTRACKS},
featToMany_::FEATUREMOUNTAINTYPES, # Dict{Tuple{Symbol,Int},MANYTRACKS},
)
## find Frame3 options

Expand Down Expand Up @@ -336,7 +315,7 @@ end


function summarizeFeatureTracks!(
featToMany_::Dict{Tuple{Symbol,Int},MANYTRACKS},
featToMany_::FEATUREMOUNTAINTYPES, # Dict{Tuple{Symbol,Int},MANYTRACKS},
)
## summarize tracks to start label

Expand Down Expand Up @@ -396,13 +375,17 @@ end


function unionFeatureMountain(
fMa::Dict{Tuple{Symbol,Int},MANYTRACKS},
fMb::Dict{Tuple{Symbol,Int},MANYTRACKS},
fMa::FEATUREMOUNTAINTYPES, # Dict{Tuple{Symbol,Int},MANYTRACKS},
fMb::FEATUREMOUNTAINTYPES, # Dict{Tuple{Symbol,Int},MANYTRACKS},
)
# start with everything from fMb
# FIXME, this deepcopy is going to explode the memory consumption
rM = deepcopy(fMb)
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HI @Affie , this may be part of the memory use issue. This PR will help some, and we can refactor more in a follow-up PR.

# then add everything from fMa
for (ka,va) in fMa

# for (ka,va) in fMa
for ka in keys(fMa)
va = fMa[ka]
# @info ka
# union if already exists
if haskey(rM, ka)
Expand Down
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