From fe2dfe81d4a242e1eef68a59fba5ce01d075b6b6 Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Sun, 13 Dec 2009 01:24:09 +0000 Subject: [PATCH] order w.r.t the edges --- matlab/beijing_graph.mat | Bin 349821 -> 438597 bytes matlab/bottom_up_ordering.m | 9 ++--- matlab/kai01_BejingPose2Graph.m | 64 ++++++++++++++++---------------- 3 files changed, 34 insertions(+), 39 deletions(-) diff --git a/matlab/beijing_graph.mat b/matlab/beijing_graph.mat index 396fa032d5c47c894a5a51cd81c02857f01225fc..711ee006edbf87ced5480f6c7d9b3119c2506a57 100644 GIT binary patch delta 97145 zcmV(`K-0hdtQE!L8jwB>GB7$ZFgh|dATls8IgwE-kzfXae1&`gg?s{qd;^7i1hsqx zb~t|-yZ``roGg@gR1@j@w^1Pw;t(SwGm{vD^Msgz6uZeJtRb@4a`o*tgqz*|qoHK~xk4tndEL_r1@#&UHTLeC|K)f9|B1n3$a7F)@n&oDlOr z|KG&@|2#e#6H_DRecl++J=cXUkc#Pi`x>kz32HIo61e(#&RRsDLZ7lY?CwObeWW`azoi7r^#k{wgluk5+Q%j zl^V$Nq*QsnWRe$1_2m&o3nimmrd%Y|lV2(qO9uIsawVmgUn^HpxLmGWO=0pIeQp z4B1L0$+Kk~*+wDqELo3ir)tYHWdncmBelY(lItONZ9h@VeTlLWxo7*CTIN&A^^yCw zU#O+N1lfchcM`_RX-a@R zvDI_$p%(Z~z*@3JX-1yup4x7@_EM)>&-dMcHRXoNG~}7>o=flEN6quCD7b$PYsglm z1+gN}ZIv#A`&VkNZ)L$X7$cL)hRAc>RJ6oa<-***QFDA(;a4eLS)v<`PCy?UOKsII z-2FQ>+jj+ikusE}x?$*e^oj9>?So6>{)3w3y9_@|Hf0~p3*AukJG9L9(N)u3*Zn6o z({~Ael6q@EN||mnIt6Wly|jNlc71XsyZ@qQ_&!Q@WmQry%}d=7^jq|m?TPENE5-dc zHQo0?Do^OCd8HeLPDcA;r)&>hPhDSJTK9fxny*@VozO$`S~n7%g!aQu+a9@|xxTs* z+&cFGYO1eFdX?Z%mg`2KKcEZHGq(G#7OM$K@l{GM6W-|F>c)SeGtedIS=$3w z9rqz>vM)LJy;PRqRDO?6L+7K5(Q`JX`!F@h_fC3|kdPQf$D-5Ge{6~FBh(MR3aK=q zk+L(|6aCkwav!C(7rd295*jNbXczRnt+x9ZwXNWd^gKbQ?27h4FW4445chFvYeBj6 zECE%O>HbV3zMZX zNvr%@`K<<`1JMj{)uyqpaFn{vP#X%)!57jYWk1b0jff6HpBjJD!8Kc5`%1?P*I8

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z6;qk^6PXrb{!i*y5gh-7s=9w2rXNL$$V(ORDj=qX#B5`%mR%u7E7)7(gS?&hY1%1& zM5H^YoCkc4eJy+=HX}`5Pqbg9F4lS-5&u1S7>+KPjGhPgaWJ-%q2tMT8o7xlrwOn* zi&H9NJEAaf13OB|aUS)koa|O(xdCsg$XO#byA9v#(KX^(5x8n1BX57OY75T>zsb0P z`5JQl|GpNVD)DI_RsR5f9|Q+w*sEZDg_m(&r{8O7`P}+d_C)bzBT|jNEY_m2?`Adg z%VSt8#IH&`tYjQzrt^e+q=Iuge3;$qd27eNyW#hp@K5~vxEE^RY_Qk2M4R zOaBBWB*3Oe;pYp)>1jp}BQ~{O#aYk5pvBaQVsKwf{aEXNgVLL^IGDLLaDO^}4f8d` kvLD~cfmG9TO2YdGvAkQm`7-XKwW)KwSApOE0N{F+3_Uno*#H0l diff --git a/matlab/bottom_up_ordering.m b/matlab/bottom_up_ordering.m index b2740ccda..0eb58ea1b 100644 --- a/matlab/bottom_up_ordering.m +++ b/matlab/bottom_up_ordering.m @@ -10,13 +10,10 @@ while ~isempty(parents) node_levels(parents) = current_level; current_level = current_level + 1; end -max_level = current_level - 1; +[~, node_order] = sort(node_levels, 'descend'); % the order of the nodes in leaves-to-root order ordering = Ordering(); -for level = max_level:-1:1 - ids = find(node_levels==level); - for i = 1:length(ids) - ordering.push_back(sprintf('x%d', ids(i))); - end +for i = 1:length(node_order) + ordering.push_back(sprintf('x%d', node_order(i))); end end \ No newline at end of file diff --git a/matlab/kai01_BejingPose2Graph.m b/matlab/kai01_BejingPose2Graph.m index a17881378..8356a7b80 100644 --- a/matlab/kai01_BejingPose2Graph.m +++ b/matlab/kai01_BejingPose2Graph.m @@ -10,30 +10,28 @@ factors = Pose2Graph; factors2 = Pose2Graph; ord2 = Ordering(); -[~, idx] = sort(way_levels, 'descend'); - -for i=1:length(idx) +[rows cols] = find(tree); +for i=1:length(edge_order) if mod(i,500) == 0 - fprintf(1, 'processing way %d\n', i); + fprintf(1, 'processing edge %d\n', i); end - for j=1:length(ways{idx(i)})-1 - id1 = ways{idx(i)}(j); - id2 = ways{idx(i)}(j+1); - key1 = sprintf('x%d', id1); - key2 = sprintf('x%d', id2); - - delta_x = points(id1,:) - points(id2,:); - delta_angle = angles(id1) - angles(id2); - measured = Pose2(delta_x(1), delta_x(2), delta_angle); - - if pred(id1) == id2 || pred(id2) == id1 %% in the spanning tree - factor=Pose2Factor(key1,key2,measured, cov); - factors.push_back(factor); - else %% not in the spanning tree - factors2.push_back(Pose2Factor(key1,key2,measured, cov)); - ord2.push_back(key1); - ord2.push_back(key2); - end + + id1 = rows(edge_order(i)); + id2 = cols(edge_order(i)); + key1 = sprintf('x%d', id1); + key2 = sprintf('x%d', id2); + + delta_x = points(id1,:) - points(id2,:); + delta_angle = angles(id1) - angles(id2); + measured = Pose2(delta_x(1), delta_x(2), delta_angle); + + if pred(id1) == id2 || pred(id2) == id1 %% in the spanning tree + factor=Pose2Factor(key1,key2,measured, cov); + factors.push_back(factor); + else %% not in the spanning tree + factors2.push_back(Pose2Factor(key1,key2,measured, cov)); + ord2.push_back(key1); + ord2.push_back(key2); end end ord2.unique(); @@ -61,11 +59,11 @@ figure(1) spy(A); %save('beijing_factors.mat', 'factors'); -LFG2=factors2.linearize_(config); -ijs2=LFG2.sparse(ord2); -A2=sparse(ijs2(1,:),ijs2(2,:),ijs2(3,:)); -figure(2) -spy(A2); +% LFG2=factors2.linearize_(config); +% ijs2=LFG2.sparse(ord2); +% A2=sparse(ijs2(1,:),ijs2(2,:),ijs2(3,:)); +% figure(2) +% spy(A2); % show R factor R = qr(A,0); @@ -73,9 +71,9 @@ figure(3) spy(R) % show re-ordered R factor -P = colamd(A); -figure(4) -spy(A(:,P)) -R = qr(A(:,P),0); -figure(5) -spy(R) +% P = colamd(A); +% figure(4) +% spy(A(:,P)) +% R = qr(A(:,P),0); +% figure(5) +% spy(R)