Method clearActiveComponents

clio/src/object_update_functor.cpp:141–162

}

void ObjectUpdateFunctor::clearActiveComponents(DynamicSceneGraph& graph,
                                                const std::set<size_t>& active) const {
  auto iter = components_.begin();
  while (iter != components_.end()) {
    if (!active.count(iter->first)) {
      ++iter;
      continue;
    }

    for (const auto node_id : iter->second->segments) {
      node_to_component_.erase(node_id);
    }

    for (const auto& node_id : iter->second->objects) {
      graph.removeNode(node_id);
      active_.erase(node_id);
    }

    components_ids_.markFree(iter->first);
    iter = components_.erase(iter);
  }
}

std::set<size_t> ObjectUpdateFunctor::addSegmentEdges(DynamicSceneGraph& graph) const {
  const auto& segments = graph.getLayer(DsgLayers::SEGMENTS);