Add RemoveTrack to TracksManager to safely remove complete tracks

opensfm/src/map/pymap.pyi

@@ -585,6 +585,8 @@ class TracksManager:
     def num_shots(self) -> int: ...
     def num_tracks(self) -> int: ...
     def remove_observation(self, arg0: str, arg1: str) -> None: ...
+    def remove_track(self, arg0: str) -> None: ...
+    def remove_shot(self, arg0: str) -> None: ...
     def write_to_file(self, arg0: str) -> None: ...
 
 Angular: "ErrorType"

opensfm/src/map/python/pybind.cc

@@ -291,6 +291,8 @@ PYBIND11_MODULE(pymap, m) {
                   &map::TracksManager::MergeTracksManager)
       .def("add_observation", &map::TracksManager::AddObservation)
       .def("remove_observation", &map::TracksManager::RemoveObservation)
+      .def("remove_track", &map::TracksManager::RemoveTrack)
+      .def("remove_shot", &map::TracksManager::RemoveShot)
       .def("num_shots", &map::TracksManager::NumShots)
       .def("num_tracks", &map::TracksManager::NumTracks)
       .def("get_shot_ids", &map::TracksManager::GetShotIds)

opensfm/src/map/src/tracks_manager.cc

@@ -203,6 +203,46 @@ void TracksManager::RemoveObservation(const ShotId& shot_id,
   find_track->second.erase(shot_id);
 }
 
+void TracksManager::RemoveTrack(const TrackId& track_id) {
+  // Step 1: Remove entries from tracks_per_shot_
+  if (shots_per_track_.count(track_id)) {
+    const auto& shot_ids = shots_per_track_[track_id];
+    for (const auto& [shot_id, _] : shot_ids) {
+      if (tracks_per_shot_.count(shot_id)) {
+        tracks_per_shot_[shot_id].erase(track_id);
+        // Remove the Shot entry if no observations remain
+        if (tracks_per_shot_[shot_id].empty()) {
+          tracks_per_shot_.erase(shot_id);
+        }
+      }
+    }
+    // Step 2: Remove the track from shots_per_track_
+    shots_per_track_.erase(track_id);
+  }
+}
+
+void TracksManager::RemoveShot(const ShotId& shot_id) {
+  // Remove shot from tracks_per_shot_
+  const auto find_shot = tracks_per_shot_.find(shot_id);
+  if (find_shot != tracks_per_shot_.end()) {
+    // Iterate all tracks which are observed by the shot
+    for (const auto& [track_id, _] : find_shot->second) {
+      // Remove the shot from the corrsponding track-list in shots_per_track_
+      if (shots_per_track_.count(track_id)) {
+        shots_per_track_[track_id].erase(shot_id);
+        // Remove the track entry if no observations remain
+        if (shots_per_track_[track_id].empty()) {
+          shots_per_track_.erase(track_id);
+        }
+      }
+    }
+    tracks_per_shot_.erase(shot_id);
+  }
+  else {
+    throw std::runtime_error("Shot ID not found");
+  }
+}
+
 int TracksManager::NumShots() const { return tracks_per_shot_.size(); }
 
 int TracksManager::NumTracks() const { return shots_per_track_.size(); }

opensfm/src/map/tracks_manager.h

@@ -14,6 +14,8 @@ class TracksManager {
   void AddObservation(const ShotId& shot_id, const TrackId& track_id,
                       const Observation& observation);
   void RemoveObservation(const ShotId& shot_id, const TrackId& track_id);
+  void RemoveTrack(const TrackId& track_id);
+  void RemoveShot(const ShotId& shot_id);
   Observation GetObservation(const ShotId& shot, const TrackId& track) const;
 
   int NumShots() const;