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

gtsam_unstable/partition

release/4.3a0
kartik arcot 2023-01-12 13:51:47 -08:00
parent 4bc2795299
commit 4e2f0cc36b
3 changed files with 24 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
gtsam_unstable/partition/FindSeparator-inl.h
View File

@ -13,6 +13,7 @@
#include <stdexcept>
#include <iostream>
#include <vector>
#include <optional>
#include <boost/tuple/tuple.hpp>
#include <boost/shared_array.hpp>
@ -237,7 +238,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
template<class GenericGraph>
boost::optional<MetisResult> separatorPartitionByMetis(const GenericGraph& graph,
std::optional<MetisResult> separatorPartitionByMetis(const GenericGraph& graph,
const std::vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
// create a metis graph
size_t numKeys = keys.size();
@ -252,7 +253,7 @@ namespace gtsam { namespace partition {
size_t sepsize;
sharedInts part;
boost::tie(sepsize, part) = separatorMetis(numKeys, xadj, adjncy, adjwgt, verbose);
if (!sepsize) return boost::optional<MetisResult>();
if (!sepsize) return std::optional<MetisResult>();
// convert the 0-1-2 from Metis to 1-2-0, so that the separator is 0, as later
// we will have more submaps
@ -291,7 +292,7 @@ namespace gtsam { namespace partition {
/* *************************************************************************/
template<class GenericGraph>
boost::optional<MetisResult> edgePartitionByMetis(const GenericGraph& graph,
std::optional<MetisResult> edgePartitionByMetis(const GenericGraph& graph,
const std::vector<size_t>& keys, WorkSpace& workspace, bool verbose) {
// a small hack for handling the camera1-camera2 case used in the unit tests
@ -443,15 +444,15 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
template<class GenericGraph>
boost::optional<MetisResult> findPartitoning(const GenericGraph& graph, const std::vector<size_t>& keys,
std::optional<MetisResult> findPartitoning(const GenericGraph& graph, const std::vector<size_t>& keys,
WorkSpace& workspace, bool verbose,
const boost::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph) {
boost::optional<MetisResult> result;
const std::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph) {
std::optional<MetisResult> result;
GenericGraph reducedGraph;
std::vector<size_t> keyToPartition;
std::vector<size_t> cameraKeys, landmarkKeys;
if (reduceGraph) {
if (!int2symbol.is_initialized())
if (!int2symbol.has_value())
throw std::invalid_argument("findSeparator: int2symbol must be valid!");
// find out all the landmark keys, which are to be eliminated
@ -474,9 +475,9 @@ namespace gtsam { namespace partition {
} else // call Metis to partition the graph to A, B, C
result = separatorPartitionByMetis(graph, keys, workspace, verbose);
if (!result.is_initialized()) {
if (!result.has_value()) {
std::cout << "metis failed!" << std::endl;
return boost::none;
return {};
}
if (reduceGraph) {
@ -491,10 +492,10 @@ namespace gtsam { namespace partition {
template<class GenericGraph>
int findSeparator(const GenericGraph& graph, const std::vector<size_t>& keys,
const int minNodesPerMap, WorkSpace& workspace, bool verbose,
const boost::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph,
const std::optional<std::vector<Symbol> >& int2symbol, const bool reduceGraph,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) {
boost::optional<MetisResult> result = findPartitoning(graph, keys, workspace,
std::optional<MetisResult> result = findPartitoning(graph, keys, workspace,
verbose, int2symbol, reduceGraph);
// find the island in A and B, and make them separated submaps

4
gtsam_unstable/partition/FindSeparator.h
View File

@ -31,7 +31,7 @@ namespace gtsam { namespace partition {
* the size of dictionary mush be equal to the number of variables in the original graph (the largest one)
*/
template<class GenericGraph>
boost::optional<MetisResult> separatorPartitionByMetis(const GenericGraph& graph, const std::vector<size_t>& keys,
std::optional<MetisResult> separatorPartitionByMetis(const GenericGraph& graph, const std::vector<size_t>& keys,
WorkSpace& workspace, bool verbose);
/**
@ -40,7 +40,7 @@ namespace gtsam { namespace partition {
*/
template<class GenericGraph>
int findSeparator(const GenericGraph& graph, const std::vector<size_t>& keys,
const int minNodesPerMap, WorkSpace& workspace, bool verbose, const boost::optional<std::vector<Symbol> >& int2symbol,
const int minNodesPerMap, WorkSpace& workspace, bool verbose, const std::optional<std::vector<Symbol> >& int2symbol,
const bool reduceGraph, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark);
}} //namespace

20
gtsam_unstable/partition/tests/testFindSeparator.cpp
View File

@ -29,10 +29,10 @@ TEST ( Partition, separatorPartitionByMetis )
std::vector<size_t> keys{0, 1, 2, 3, 4};
WorkSpace workspace(5);
boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
std::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
CHECK(actual.has_value());
vector<size_t> A_expected{0, 3}; // frontal
vector<size_t> B_expected{2, 4}; // frontal
vector<size_t> C_expected{1}; // separator
@ -54,10 +54,10 @@ TEST ( Partition, separatorPartitionByMetis2 )
std::vector<size_t> keys{1, 2, 3, 5, 6};
WorkSpace workspace(8);
boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
std::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
CHECK(actual.has_value());
vector<size_t> A_expected{1, 5}; // frontal
vector<size_t> B_expected{3, 6}; // frontal
vector<size_t> C_expected{2}; // separator
@ -77,10 +77,10 @@ TEST ( Partition, edgePartitionByMetis )
std::vector<size_t> keys{0, 1, 2, 3};
WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
std::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
CHECK(actual.has_value());
vector<size_t> A_expected{0, 1}; // frontal
vector<size_t> B_expected{2, 3}; // frontal
vector<size_t> C_expected; // separator
@ -108,9 +108,9 @@ TEST ( Partition, edgePartitionByMetis2 )
std::vector<size_t> keys{0, 1, 2, 3, 4};
WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
std::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
CHECK(actual.has_value());
vector<size_t> A_expected{0, 1}; // frontal
vector<size_t> B_expected{2, 3, 4}; // frontal
vector<size_t> C_expected; // separator
@ -135,7 +135,7 @@ TEST ( Partition, findSeparator )
int minNodesPerMap = -1;
bool reduceGraph = false;
int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace,
false, boost::none, reduceGraph, 0, 0);
false, {}, reduceGraph, 0, 0);
LONGS_EQUAL(2, numSubmaps);
LONGS_EQUAL(5, workspace.partitionTable.size());
LONGS_EQUAL(1, workspace.partitionTable[0]);
@ -161,7 +161,7 @@ TEST ( Partition, findSeparator2 )
int minNodesPerMap = -1;
bool reduceGraph = false;
int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace,
false, boost::none, reduceGraph, 0, 0);
false, {}, reduceGraph, 0, 0);
LONGS_EQUAL(2, numSubmaps);
LONGS_EQUAL(8, workspace.partitionTable.size());
LONGS_EQUAL(-1,workspace.partitionTable[0]);