12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Ordering implementation, unit tests

release/4.3a0
Andrew Melim 2014-10-14 15:18:05 -04:00
parent bf22a49504
commit 0771b1658b
9 changed files with 48 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
CMakeLists.txt
View File

@ -216,7 +216,6 @@ configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eig
# Install the configuration file for Eigen
install(FILES ${PROJECT_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
###############################################################################
# Global compile options

1
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt vendored
View File

@ -46,3 +46,4 @@ add_subdirectory("libmetis")
if(GTSAM_BUILD_METIS_EXECUTABLES)
add_subdirectory("programs")
endif()

1
gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt vendored
View File

@ -14,3 +14,4 @@ install(TARGETS metis
RUNTIME DESTINATION include/gtsam/3rdparty/metis/lib
ARCHIVE DESTINATION include/gtsam/3rdparty/metis/lib)

7
gtsam/CMakeLists.txt
View File

@ -19,7 +19,6 @@ set(gtsam_srcs)
message(STATUS "Building 3rdparty")
add_subdirectory(3rdparty)
# build convenience library
set (3rdparty_srcs
${eigen_headers} # Set by 3rdparty/CMakeLists.txt
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c
@ -91,12 +90,12 @@ set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSIO
set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
message(STATUS "GTSAM Version: ${gtsam_version}")
message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
message(STATUS "GTSAM Additional: ${GTSAM_ADDITIONAL_LIBRARIES}")
# build shared and static versions of the library
if (GTSAM_BUILD_STATIC_LIBRARY)
message(STATUS "Building GTSAM - static")
add_library(gtsam STATIC ${gtsam_srcs})
target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} metis ${GTSAM_ADDITIONAL_LIBRARIES})
set_target_properties(gtsam PROPERTIES
OUTPUT_NAME gtsam
CLEAN_DIRECT_OUTPUT 1
@ -113,7 +112,7 @@ if (GTSAM_BUILD_STATIC_LIBRARY)
else()
message(STATUS "Building GTSAM - shared")
add_library(gtsam SHARED ${gtsam_srcs})
target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} metis ${GTSAM_ADDITIONAL_LIBRARIES})
set_target_properties(gtsam PROPERTIES
OUTPUT_NAME gtsam
CLEAN_DIRECT_OUTPUT 1

10
gtsam/inference/MetisIndex-inl.h
View File

@ -15,15 +15,12 @@
* @date Oct. 10, 2014
*/
#include <gtsam/inference/MetisIndex.h>
#pragma once
#include <map>
namespace gtsam {
MetisIndex::~MetisIndex(){}
std::vector<int> MetisIndex::xadj() const { return xadj_; }
std::vector<int> MetisIndex::adj() const { return adj_; }
/* ************************************************************************* */
template<class FACTOR>
@ -50,10 +47,13 @@ namespace gtsam {
xadj_.push_back(0);// Always set the first index to zero
for (adjMapIt = adjMap.begin(); adjMapIt != adjMap.end(); ++adjMapIt) {
vector<int> temp;
// Copy from the FastSet into a temporary vector
copy(adjMapIt->second.begin(), adjMapIt->second.end(), std::back_inserter(temp));
// Insert each index's set in order by appending them to the end of adj_
adj_.insert(adj_.end(), temp.begin(), temp.end());
//adj_.push_back(temp);
xadj_.push_back(adj_.size());
}
}
}

8
gtsam/inference/MetisIndex.h
View File

@ -25,6 +25,7 @@
#include <gtsam/base/types.h>
#include <gtsam/base/timing.h>
#include <gtsam/inference/Key.h>
#include <gtsam/inference/FactorGraph.h>
namespace gtsam {
/**
@ -56,7 +57,7 @@ public:
MetisIndex(const FG& factorGraph) : nFactors_(0), nValues_(0) {
augment(factorGraph); }
~MetisIndex();
~MetisIndex(){}
/// @}
/// @name Advanced Interface
/// @{
@ -68,11 +69,12 @@ public:
template<class FACTOR>
void augment(const FactorGraph<FACTOR>& factors);
std::vector<int> xadj() const;
std::vector<int> adj() const;
std::vector<int> xadj() const { return xadj_; }
std::vector<int> adj() const { return adj_; }
/// @}
};
}
#include <gtsam/inference/MetisIndex-inl.h>

26
gtsam/inference/Ordering.cpp
View File

@ -199,19 +199,27 @@ namespace gtsam {
/* ************************************************************************* */
template<class FACTOR>
Ordering Ordering::METIS(const FactorGraph<FACTOR>& graph)
Ordering Ordering::METIS(const MetisIndex& met)
{
gttic(Ordering_METIS);
// First develop the adjacency matrix for the
// graph as described in Section 5.5 of the METIS manual
// CSR Format
// xadj is of size n+1
// metis vars
vector<int> xadj = met.xadj();
vector<int> adj = met.adj();
vector<int> perm, iperm;
int outputError;
idx_t size = xadj.size();
outputError = METIS_NodeND(&size, xadj.data(), adj.data(), NULL, NULL, perm.data(), iperm.data());
Ordering result;
if (outputError != METIS_OK)
{
std::cout << "METIS ordering error!\n";
return result;
}
//METIS_NodeND(graph.keys().size(), xadj, adj);
return result;
}
/* ************************************************************************* */

8
gtsam/inference/Ordering.h
View File

@ -24,6 +24,7 @@
#include <gtsam/base/FastSet.h>
#include <gtsam/inference/Key.h>
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/inference/MetisIndex.h>
#include <gtsam/inference/FactorGraph.h>
namespace gtsam {
@ -151,10 +152,13 @@ namespace gtsam {
static GTSAM_EXPORT void CSRFormat(std::vector<int>& xadj, std::vector<int>& adj, const FactorGraph<FACTOR>& graph);
/// Compute an ordering determined by METIS from a VariableIndex
//static GTSAM_EXPORT Ordering METIS(const VariableIndex& variableIndex);
static GTSAM_EXPORT Ordering METIS(const MetisIndex& met);
template<class FACTOR>
static GTSAM_EXPORT Ordering METIS(const FactorGraph<FACTOR>& graph);
static GTSAM_EXPORT Ordering METIS(const FactorGraph<FACTOR>& graph)
{
return METIS(MetisIndex(graph));
}
/// @}

14
gtsam/inference/tests/testOrdering.cpp
View File

@ -80,8 +80,6 @@ TEST(Ordering, grouped_constrained_ordering) {
/* ************************************************************************* */
TEST(Ordering, csr_format) {
// Example in METIS manual
SymbolicFactorGraph sfg;
sfg.push_factor(0, 1);
@ -118,10 +116,18 @@ TEST(Ordering, csr_format) {
EXPECT(xadjExpected == mi.xadj());
EXPECT(adjExpected.size() == mi.adj().size());
EXPECT( adjExpected == mi.adj());
}
/* ************************************************************************* */
TEST(Ordering, metis) {
SymbolicFactorGraph sfg;
sfg.push_factor(0, 1);
sfg.push_factor(1, 2);
sfg.push_factor(2, 3);
sfg.push_factor(3, 4);
Ordering::METIS(sfg);
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */