73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file MetisIndex-inl.h
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* @author Andrew Melim
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* @date Oct. 10, 2014
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*/
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#pragma once
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#include <map>
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#include <vector>
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namespace gtsam {
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/* ************************************************************************* */
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template<class FACTOR>
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void MetisIndex::augment(const FactorGraph<FACTOR>& factors)
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{
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std::map<Key, FastSet<Key> > adjMap;
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std::map<Key, FastSet<Key> >::iterator adjMapIt;
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std::set<Key> keySet;
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/* ********** Convert to CSR format ********** */
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// Assuming that vertex numbering starts from 0 (C style),
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// then the adjacency list of vertex i is stored in array adjncy
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// starting at index xadj[i] and ending at(but not including)
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// index xadj[i + 1](i.e., adjncy[xadj[i]] through
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// and including adjncy[xadj[i + 1] - 1]).
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for (size_t i = 0; i < factors.size(); i++){
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if (factors[i]){
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BOOST_FOREACH(const Key& k1, *factors[i]){
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BOOST_FOREACH(const Key& k2, *factors[i]){
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if (k1 != k2)
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adjMap[k1].insert(adjMap[k1].end(), k2); // Insert at the end
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}
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keySet.insert(keySet.end(), k1); // Keep a track of all unique keySet
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}
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}
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}
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// Number of keys referenced in this factor graph
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nKeys_ = keySet.size();
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// Starting with a nonzero key crashes METIS
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// Find the smallest key in the graph
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minKey_ = *keySet.begin(); // set is ordered
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xadj_.push_back(0);// Always set the first index to zero
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for (adjMapIt = adjMap.begin(); adjMapIt != adjMap.end(); ++adjMapIt) {
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std::vector<Key> temp;
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// Copy from the FastSet into a temporary vector
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std::copy(adjMapIt->second.begin(), adjMapIt->second.end(), std::back_inserter(temp));
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// Insert each index's set in order by appending them to the end of adj_
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adj_.insert(adj_.end(), temp.begin(), temp.end());
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//adj_.push_back(temp);
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xadj_.push_back(adj_.size());
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}
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}
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}
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