From ca0285cc18e55bdafeaeaaf592a39e45c5756280 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Tue, 2 Apr 2024 17:41:17 +0200
Subject: [PATCH] added getter for the number of tracked features

---
 ov_core/src/track/TrackBase.cpp | 21 ++++++++++++++++++++-
 ov_core/src/track/TrackBase.h   |  2 ++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/ov_core/src/track/TrackBase.cpp b/ov_core/src/track/TrackBase.cpp
index e214c233f..f2fd427ce 100644
--- a/ov_core/src/track/TrackBase.cpp
+++ b/ov_core/src/track/TrackBase.cpp
@@ -116,6 +116,25 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,
   }
 }
 
+size_t TrackBase::get_num_tracks() {
+
+  std::map<size_t, cv::Mat> img_last_cache;
+  std::unordered_map<size_t, std::vector<size_t>> ids_last_cache;
+  {
+    std::lock_guard<std::mutex> lckv(mtx_last_vars);
+    img_last_cache = img_last;
+    ids_last_cache = ids_last;
+  }
+
+  size_t num_tracks = 0;
+
+  for (auto const &pair : img_last_cache) {
+    num_tracks += ids_last_cache[pair.first].size();
+  }
+
+  return num_tracks;
+}
+
 void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::vector<size_t> highlighted,
                                 std::string overlay) {
 
@@ -245,4 +264,4 @@ void TrackBase::change_feat_id(size_t id_old, size_t id_new) {
       }
     }
   }
-}
\ No newline at end of file
+}
diff --git a/ov_core/src/track/TrackBase.h b/ov_core/src/track/TrackBase.h
index e0afee1d9..53aea3900 100644
--- a/ov_core/src/track/TrackBase.h
+++ b/ov_core/src/track/TrackBase.h
@@ -105,6 +105,8 @@ class TrackBase {
    */
   virtual void display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::string overlay = "");
 
+
+  size_t get_num_tracks();
   /**
    * @brief Shows a "trail" for each feature (i.e. its history)
    * @param img_out image to which we will overlayed features on