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Merge pull request #603 from borglab/fix/matlab-tbb 

Use KeyVector for proper wrapping with TBB
release/4.3a0
Varun Agrawal 2020-11-16 17:48:20 -05:00 committed by GitHub
parent c5daeb5fdd 283582cd5d
commit 5b4979cae8
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 9 additions and 9 deletions
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6
gtsam/sfm/MFAS.cpp
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@ -121,8 +121,8 @@ MFAS::MFAS(const TranslationEdges& relativeTranslations,
}
}
vector<Key> MFAS::computeOrdering() const {
vector<Key> ordering; // Nodes in MFAS order (result).
KeyVector MFAS::computeOrdering() const {
KeyVector ordering; // Nodes in MFAS order (result).
// A graph is an unordered map from keys to nodes. Each node contains a list
// of its adjacent nodes. Create the graph from the edgeWeights.
@ -140,7 +140,7 @@ vector<Key> MFAS::computeOrdering() const {
map<MFAS::KeyPair, double> MFAS::computeOutlierWeights() const {
// Find the ordering.
vector<Key> ordering = computeOrdering();
KeyVector ordering = computeOrdering();
// Create a map from the node key to its position in the ordering. This makes
// it easier to lookup positions of different nodes.

2
gtsam/sfm/MFAS.h
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@ -84,7 +84,7 @@ class MFAS {
* @brief Computes the 1D MFAS ordering of nodes in the graph
* @return orderedNodes: vector of nodes in the obtained order
*/
std::vector<Key> computeOrdering() const;
KeyVector computeOrdering() const;
/**
* @brief Computes the outlier weights of the graph. We define the outlier

10
gtsam/sfm/tests/testMFAS.cpp
View File

@ -25,7 +25,7 @@ using namespace gtsam;
vector<MFAS::KeyPair> edges = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1),
make_pair(1, 2), make_pair(0, 2), make_pair(3, 0)};
// nodes in the graph
vector<Key> nodes = {Key(0), Key(1), Key(2), Key(3)};
KeyVector nodes = {Key(0), Key(1), Key(2), Key(3)};
// weights from projecting in direction-1 (bad direction, outlier accepted)
vector<double> weights1 = {2, 1.5, 0.5, 0.25, 1, 0.75};
// weights from projecting in direction-2 (good direction, outlier rejected)
@ -47,10 +47,10 @@ map<MFAS::KeyPair, double> getEdgeWeights(const vector<MFAS::KeyPair> &edges,
TEST(MFAS, OrderingWeights2) {
MFAS mfas_obj(getEdgeWeights(edges, weights2));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();
// ground truth (expected) ordering in this example
vector<Key> gt_ordered_nodes = {0, 1, 3, 2};
KeyVector gt_ordered_nodes = {0, 1, 3, 2};
// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {
@ -77,10 +77,10 @@ TEST(MFAS, OrderingWeights2) {
TEST(MFAS, OrderingWeights1) {
MFAS mfas_obj(getEdgeWeights(edges, weights1));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();
// "ground truth" expected ordering in this example
vector<Key> gt_ordered_nodes = {3, 0, 1, 2};
KeyVector gt_ordered_nodes = {3, 0, 1, 2};
// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {