Ordering implementation, unit tests

CMakeLists.txt

@@ -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
 

gtsam/3rdparty/metis-5.1.0/CMakeLists.txt

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

gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt

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

gtsam/CMakeLists.txt

@@ -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

gtsam/inference/MetisIndex-inl.h

@@ -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());
         }
     }
+
 }

gtsam/inference/MetisIndex.h

@@ -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> xadj() const { return xadj_; }
-    std::vector<int>  adj() const;
+    std::vector<int>  adj() const { return  adj_; }
 
     /// @}
 };
+
 }
 
 #include <gtsam/inference/MetisIndex-inl.h>

gtsam/inference/Ordering.cpp

@@ -199,19 +199,27 @@ namespace gtsam {
 
 
   /* ************************************************************************* */
-  template<class FACTOR>
+  Ordering Ordering::METIS(const MetisIndex& met)
-  Ordering Ordering::METIS(const FactorGraph<FACTOR>& graph)
   {
       gttic(Ordering_METIS);
-      // First develop the adjacency matrix for the 
+
-      // graph as described in Section 5.5 of the METIS manual
+      vector<int> xadj = met.xadj();
-      // CSR Format
+      vector<int>  adj = met.adj();
-      // xadj is of size n+1
+
-      // metis vars
+      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;
-      
   }
 
   /* ************************************************************************* */

gtsam/inference/Ordering.h

@@ -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));
+    }
 
     /// @}
 

gtsam/inference/tests/testOrdering.cpp

@@ -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); }
 /* ************************************************************************* */