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Remove using namespace std from header files

release/4.3a0
cbeall3 2014-05-05 16:35:22 -04:00
parent cf77189d71
commit 2f180d1d02
2 changed files with 82 additions and 86 deletions
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166
gtsam_unstable/partition/FindSeparator-inl.h
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@ -24,8 +24,6 @@ extern "C" {
#include "FindSeparator.h"
using namespace std;
namespace gtsam { namespace partition {
typedef boost::shared_array<idx_t> sharedInts;
@ -37,7 +35,7 @@ namespace gtsam { namespace partition {
* whether node j is in the left part of the graph, the right part, or the
* separator, respectively
*/
pair<int, sharedInts> separatorMetis(idx_t n, const sharedInts& xadj,
std::pair<int, sharedInts> separatorMetis(idx_t n, const sharedInts& xadj,
const sharedInts& adjncy, const sharedInts& adjwgt, bool verbose) {
// control parameters
@ -72,7 +70,7 @@ namespace gtsam { namespace partition {
printf("**********************************************************************\n");
}
return make_pair(sepsize, part_);
return std::make_pair(sepsize, part_);
}
/* ************************************************************************* */
@ -112,7 +110,7 @@ namespace gtsam { namespace partition {
// *edgecut = graph->mincut;
// *sepsize = graph.pwgts[2];
icopy(*nvtxs, graph->where, part);
cout << "Finished bisection:" << *edgecut << endl;
std::cout << "Finished bisection:" << *edgecut << std::endl;
FreeGraph(&graph);
FreeCtrl(&ctrl);
@ -124,7 +122,7 @@ namespace gtsam { namespace partition {
* Part [j] is 0 or 1, depending on
* whether node j is in the left part of the graph or the right part respectively
*/
pair<int, sharedInts> edgeMetis(idx_t n, const sharedInts& xadj, const sharedInts& adjncy,
std::pair<int, sharedInts> edgeMetis(idx_t n, const sharedInts& xadj, const sharedInts& adjncy,
const sharedInts& adjwgt, bool verbose) {
// control parameters
@ -163,7 +161,7 @@ namespace gtsam { namespace partition {
printf("**********************************************************************\n");
}
return make_pair(edgecut, part_);
return std::make_pair(edgecut, part_);
}
/* ************************************************************************* */
@ -173,13 +171,13 @@ namespace gtsam { namespace partition {
* adjncy always has the size equal to two times of the no. of the edges in the Metis graph
*/
template <class GenericGraph>
void prepareMetisGraph(const GenericGraph& graph, const vector<size_t>& keys, WorkSpace& workspace,
void prepareMetisGraph(const GenericGraph& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
sharedInts* ptr_xadj, sharedInts* ptr_adjncy, sharedInts* ptr_adjwgt) {
typedef int Weight;
typedef vector<int> Weights;
typedef vector<int> Neighbors;
typedef pair<Neighbors, Weights> NeighborsInfo;
typedef std::vector<int> Weights;
typedef std::vector<int> Neighbors;
typedef std::pair<Neighbors, Weights> NeighborsInfo;
// set up dictionary
std::vector<int>& dictionary = workspace.dictionary;
@ -188,27 +186,27 @@ namespace gtsam { namespace partition {
// prepare for {adjacencyMap}, a pair of neighbor indices and the correponding edge weights
int numNodes = keys.size();
int numEdges = 0;
vector<NeighborsInfo> adjacencyMap;
std::vector<NeighborsInfo> adjacencyMap;
adjacencyMap.resize(numNodes);
cout << "Number of nodes: " << adjacencyMap.size() << endl;
std::cout << "Number of nodes: " << adjacencyMap.size() << std::endl;
int index1, index2;
BOOST_FOREACH(const typename GenericGraph::value_type& factor, graph){
index1 = dictionary[factor->key1.index];
index2 = dictionary[factor->key2.index];
cout << "index1: " << index1 << endl;
cout << "index2: " << index2 << endl;
std::cout << "index1: " << index1 << std::endl;
std::cout << "index2: " << index2 << std::endl;
// if both nodes are in the current graph, i.e. not a joint factor between frontal and separator
if (index1 >= 0 && index2 >= 0) {
pair<Neighbors, Weights>& adjacencyMap1 = adjacencyMap[index1];
pair<Neighbors, Weights>& adjacencyMap2 = adjacencyMap[index2];
std::pair<Neighbors, Weights>& adjacencyMap1 = adjacencyMap[index1];
std::pair<Neighbors, Weights>& adjacencyMap2 = adjacencyMap[index2];
try{
adjacencyMap1.first.push_back(index2);
adjacencyMap1.second.push_back(factor->weight);
adjacencyMap2.first.push_back(index1);
adjacencyMap2.second.push_back(factor->weight);
}catch(std::exception& e){
cout << e.what() << endl;
std::cout << e.what() << std::endl;
}
numEdges++;
}
@ -237,11 +235,11 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
template<class GenericGraph>
boost::optional<MetisResult> separatorPartitionByMetis(const GenericGraph& graph,
const vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
const std::vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
// create a metis graph
size_t numKeys = keys.size();
if (verbose)
cout << graph.size() << " factors,\t" << numKeys << " nodes;\t" << endl;
std::cout << graph.size() << " factors,\t" << numKeys << " nodes;\t" << std::endl;
sharedInts xadj, adjncy, adjwgt;
@ -260,29 +258,29 @@ namespace gtsam { namespace partition {
result.A.reserve(numKeys - sepsize);
result.B.reserve(numKeys - sepsize);
int* ptr_part = part.get();
vector<size_t>::const_iterator itKey = keys.begin();
vector<size_t>::const_iterator itKeyLast = keys.end();
std::vector<size_t>::const_iterator itKey = keys.begin();
std::vector<size_t>::const_iterator itKeyLast = keys.end();
while(itKey != itKeyLast) {
switch(*(ptr_part++)) {
case 0: result.A.push_back(*(itKey++)); break;
case 1: result.B.push_back(*(itKey++)); break;
case 2: result.C.push_back(*(itKey++)); break;
default: throw runtime_error("separatorPartitionByMetis: invalid results from Metis ND!");
default: throw std::runtime_error("separatorPartitionByMetis: invalid results from Metis ND!");
}
}
if (verbose) {
cout << "total key: " << keys.size()
std::cout << "total key: " << keys.size()
<< " result(A,B,C) = " << result.A.size() << ", " << result.B.size() << ", "
<< result.C.size() << "; sepsize from Metis = " << sepsize << endl;
<< result.C.size() << "; sepsize from Metis = " << sepsize << std::endl;
//throw runtime_error("separatorPartitionByMetis:stop for debug");
}
if(result.C.size() != sepsize) {
cout << "total key: " << keys.size()
std::cout << "total key: " << keys.size()
<< " result(A,B,C) = " << result.A.size() << ", " << result.B.size() << ", " << result.C.size()
<< "; sepsize from Metis = " << sepsize << endl;
throw runtime_error("separatorPartitionByMetis: invalid sepsize from Metis ND!");
<< "; sepsize from Metis = " << sepsize << std::endl;
throw std::runtime_error("separatorPartitionByMetis: invalid sepsize from Metis ND!");
}
return boost::make_optional<MetisResult >(result);
@ -291,7 +289,7 @@ namespace gtsam { namespace partition {
/* *************************************************************************/
template<class GenericGraph>
boost::optional<MetisResult> edgePartitionByMetis(const GenericGraph& graph,
const vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
const std::vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
// a small hack for handling the camera1-camera2 case used in the unit tests
if (graph.size() == 1 && keys.size() == 2) {
@ -303,7 +301,7 @@ namespace gtsam { namespace partition {
// create a metis graph
size_t numKeys = keys.size();
if (verbose) cout << graph.size() << " factors,\t" << numKeys << " nodes;\t" << endl;
if (verbose) std::cout << graph.size() << " factors,\t" << numKeys << " nodes;\t" << std::endl;
sharedInts xadj, adjncy, adjwgt;
prepareMetisGraph<GenericGraph>(graph, keys, workspace, &xadj, &adjncy, &adjwgt);
@ -317,35 +315,35 @@ namespace gtsam { namespace partition {
result.A.reserve(numKeys);
result.B.reserve(numKeys);
int* ptr_part = part.get();
vector<size_t>::const_iterator itKey = keys.begin();
vector<size_t>::const_iterator itKeyLast = keys.end();
std::vector<size_t>::const_iterator itKey = keys.begin();
std::vector<size_t>::const_iterator itKeyLast = keys.end();
while(itKey != itKeyLast) {
if (*ptr_part != 0 && *ptr_part != 1)
cout << *ptr_part << "!!!" << endl;
std::cout << *ptr_part << "!!!" << std::endl;
switch(*(ptr_part++)) {
case 0: result.A.push_back(*(itKey++)); break;
case 1: result.B.push_back(*(itKey++)); break;
default: throw runtime_error("edgePartitionByMetis: invalid results from Metis ND!");
default: throw std::runtime_error("edgePartitionByMetis: invalid results from Metis ND!");
}
}
if (verbose) {
cout << "the size of two submaps in the reduced graph: " << result.A.size()
<< " " << result.B.size() << endl;
std::cout << "the size of two submaps in the reduced graph: " << result.A.size()
<< " " << result.B.size() << std::endl;
int edgeCut = 0;
BOOST_FOREACH(const typename GenericGraph::value_type& factor, graph){
int key1 = factor->key1.index;
int key2 = factor->key2.index;
// print keys and their subgraph assignment
cout << key1;
if (std::find(result.A.begin(), result.A.end(), key1) != result.A.end()) cout <<"A ";
if (std::find(result.B.begin(), result.B.end(), key1) != result.B.end()) cout <<"B ";
std::cout << key1;
if (std::find(result.A.begin(), result.A.end(), key1) != result.A.end()) std::cout <<"A ";
if (std::find(result.B.begin(), result.B.end(), key1) != result.B.end()) std::cout <<"B ";
cout << key2;
if (std::find(result.A.begin(), result.A.end(), key2) != result.A.end()) cout <<"A ";
if (std::find(result.B.begin(), result.B.end(), key2) != result.B.end()) cout <<"B ";
cout << "weight " << factor->weight;;
std::cout << key2;
if (std::find(result.A.begin(), result.A.end(), key2) != result.A.end()) std::cout <<"A ";
if (std::find(result.B.begin(), result.B.end(), key2) != result.B.end()) std::cout <<"B ";
std::cout << "weight " << factor->weight;;
// find vertices that were assigned to sets A & B. Their edge will be cut
if ((std::find(result.A.begin(), result.A.end(), key1) != result.A.end() &&
@ -353,48 +351,48 @@ namespace gtsam { namespace partition {
(std::find(result.B.begin(), result.B.end(), key1) != result.B.end() &&
std::find(result.A.begin(), result.A.end(), key2) != result.A.end())){
edgeCut ++;
cout << " CUT ";
std::cout << " CUT ";
}
cout << endl;
std::cout << std::endl;
}
cout << "edgeCut: " << edgeCut << endl;
std::cout << "edgeCut: " << edgeCut << std::endl;
}
return boost::make_optional<MetisResult >(result);
}
/* ************************************************************************* */
bool isLargerIsland(const vector<size_t>& island1, const vector<size_t>& island2) {
bool isLargerIsland(const std::vector<size_t>& island1, const std::vector<size_t>& island2) {
return island1.size() > island2.size();
}
/* ************************************************************************* */
// debug functions
void printIsland(const vector<size_t>& island) {
cout << "island: ";
void printIsland(const std::vector<size_t>& island) {
std::cout << "island: ";
BOOST_FOREACH(const size_t key, island)
cout << key << " ";
cout << endl;
std::cout << key << " ";
std::cout << std::endl;
}
void printIslands(const list<vector<size_t> >& islands) {
BOOST_FOREACH(const vector<size_t>& island, islands)
void printIslands(const std::list<std::vector<size_t> >& islands) {
BOOST_FOREACH(const std::vector<std::size_t>& island, islands)
printIsland(island);
}
void printNumCamerasLandmarks(const vector<size_t>& keys, const vector<Symbol>& int2symbol) {
void printNumCamerasLandmarks(const std::vector<size_t>& keys, const std::vector<Symbol>& int2symbol) {
int numCamera = 0, numLandmark = 0;
BOOST_FOREACH(const size_t key, keys)
if (int2symbol[key].chr() == 'x')
numCamera++;
else
numLandmark++;
cout << "numCamera: " << numCamera << " numLandmark: " << numLandmark << endl;
std::cout << "numCamera: " << numCamera << " numLandmark: " << numLandmark << std::endl;
}
/* ************************************************************************* */
template<class GenericGraph>
void addLandmarkToPartitionResult(const GenericGraph& graph, const vector<size_t>& landmarkKeys,
void addLandmarkToPartitionResult(const GenericGraph& graph, const std::vector<size_t>& landmarkKeys,
MetisResult& partitionResult, WorkSpace& workspace) {
// set up cameras in the dictionary
@ -408,7 +406,7 @@ namespace gtsam { namespace partition {
BOOST_FOREACH(const size_t b, B)
dictionary[b] = 2;
if (!C.empty())
throw runtime_error("addLandmarkToPartitionResult: C is not empty");
throw std::runtime_error("addLandmarkToPartitionResult: C is not empty");
// set up landmarks
size_t i,j;
@ -424,7 +422,7 @@ namespace gtsam { namespace partition {
dictionary[j] = 0;
}
// if (j == 67980)
// cout << "dictionary[67980]" << dictionary[j] << endl;
// std::cout << "dictionary[67980]" << dictionary[j] << std::endl;
}
BOOST_FOREACH(const size_t j, landmarkKeys) {
@ -432,8 +430,8 @@ namespace gtsam { namespace partition {
case 0: C.push_back(j); break;
case 1: A.push_back(j); break;
case 2: B.push_back(j); break;
default: cout << j << ": " << dictionary[j] << endl;
throw runtime_error("addLandmarkToPartitionResult: wrong status for landmark");
default: std::cout << j << ": " << dictionary[j] << std::endl;
throw std::runtime_error("addLandmarkToPartitionResult: wrong status for landmark");
}
}
}
@ -442,13 +440,13 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
template<class GenericGraph>
boost::optional<MetisResult> findPartitoning(const GenericGraph& graph, const vector<size_t>& keys,
boost::optional<MetisResult> findPartitoning(const GenericGraph& graph, const std::vector<size_t>& keys,
WorkSpace& workspace, bool verbose,
const boost::optional<vector<Symbol> >& int2symbol, const bool reduceGraph) {
const boost::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph) {
boost::optional<MetisResult> result;
GenericGraph reducedGraph;
vector<size_t> keyToPartition;
vector<size_t> cameraKeys, landmarkKeys;
std::vector<size_t> keyToPartition;
std::vector<size_t> cameraKeys, landmarkKeys;
if (reduceGraph) {
if (!int2symbol.is_initialized())
throw std::invalid_argument("findSeparator: int2symbol must be valid!");
@ -467,20 +465,20 @@ namespace gtsam { namespace partition {
workspace.prepareDictionary(keyToPartition);
const std::vector<int>& dictionary = workspace.dictionary;
reduceGenericGraph(graph, cameraKeys, landmarkKeys, dictionary, reducedGraph);
cout << "original graph: V" << keys.size() << ", E" << graph.size()
<< " --> reduced graph: V" << cameraKeys.size() << ", E" << reducedGraph.size() << endl;
std::cout << "original graph: V" << keys.size() << ", E" << graph.size()
<< " --> reduced graph: V" << cameraKeys.size() << ", E" << reducedGraph.size() << std::endl;
result = edgePartitionByMetis(reducedGraph, keyToPartition, workspace, verbose);
} else // call Metis to partition the graph to A, B, C
result = separatorPartitionByMetis(graph, keys, workspace, verbose);
if (!result.is_initialized()) {
cout << "metis failed!" << endl;
std::cout << "metis failed!" << std::endl;
return 0;
}
if (reduceGraph) {
addLandmarkToPartitionResult(graph, landmarkKeys, *result, workspace);
cout << "the separator size: " << result->C.size() << " landmarks" << endl;
std::cout << "the separator size: " << result->C.size() << " landmarks" << std::endl;
}
return result;
@ -488,22 +486,22 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
template<class GenericGraph>
int findSeparator(const GenericGraph& graph, const vector<size_t>& keys,
int findSeparator(const GenericGraph& graph, const std::vector<size_t>& keys,
const int minNodesPerMap, WorkSpace& workspace, bool verbose,
const boost::optional<vector<Symbol> >& int2symbol, const bool reduceGraph,
const boost::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) {
boost::optional<MetisResult> result = findPartitoning(graph, keys, workspace,
verbose, int2symbol, reduceGraph);
// find the island in A and B, and make them separated submaps
typedef vector<size_t> Island;
list<Island> islands;
typedef std::vector<size_t> Island;
std::list<Island> islands;
list<Island> islands_in_A = findIslands(graph, result->A, workspace,
std::list<Island> islands_in_A = findIslands(graph, result->A, workspace,
minNrConstraintsPerCamera, minNrConstraintsPerLandmark);
list<Island> islands_in_B = findIslands(graph, result->B, workspace,
std::list<Island> islands_in_B = findIslands(graph, result->B, workspace,
minNrConstraintsPerCamera, minNrConstraintsPerLandmark);
islands.insert(islands.end(), islands_in_A.begin(), islands_in_A.end());
@ -514,13 +512,13 @@ namespace gtsam { namespace partition {
#ifdef NDEBUG
// verbose = true;
// if (!int2symbol) throw std::invalid_argument("findSeparator: int2symbol is not set!");
// cout << "sep size: " << result->C.size() << "; ";
// std::cout << "sep size: " << result->C.size() << "; ";
// printNumCamerasLandmarks(result->C, *int2symbol);
// cout << "no. of island: " << islands.size() << "; ";
// cout << "island size: ";
// std::cout << "no. of island: " << islands.size() << "; ";
// std::cout << "island size: ";
// BOOST_FOREACH(const Island& island, islands)
// cout << island.size() << " ";
// cout << endl;
// std::cout << island.size() << " ";
// std::cout << std::endl;
// BOOST_FOREACH(const Island& island, islands) {
// printNumCamerasLandmarks(island, int2symbol);
@ -531,20 +529,20 @@ namespace gtsam { namespace partition {
size_t oldSize = islands.size();
while(true) {
if (islands.size() < 2) {
cout << "numIsland: " << numIsland0 << endl;
throw runtime_error("findSeparator: found fewer than 2 submaps!");
std::cout << "numIsland: " << numIsland0 << std::endl;
throw std::runtime_error("findSeparator: found fewer than 2 submaps!");
}
list<Island>::reference island = islands.back();
std::list<Island>::reference island = islands.back();
if ((int)island.size() >= minNodesPerMap) break;
result->C.insert(result->C.end(), island.begin(), island.end());
islands.pop_back();
}
if (islands.size() != oldSize){
if (verbose) cout << oldSize << "-" << oldSize - islands.size() << " submap(s);\t" << endl;
if (verbose) std::cout << oldSize << "-" << oldSize - islands.size() << " submap(s);\t" << std::endl;
}
else{
if (verbose) cout << oldSize << " submap(s);\t" << endl;
if (verbose) std::cout << oldSize << " submap(s);\t" << std::endl;
}
// generate the node map

2
gtsam_unstable/partition/NestedDissection-inl.h
View File

@ -14,8 +14,6 @@
#include "OrderedSymbols.h"
#include "NestedDissection.h"
using namespace std;
namespace gtsam { namespace partition {
/* ************************************************************************* */