153 lines
6.7 KiB
C++
153 lines
6.7 KiB
C++
/*
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* GenericGraph.h
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*
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* Created on: Nov 22, 2010
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* Author: nikai
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* Description: generic graph types used in partitioning
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*/
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#pragma once
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#include <set>
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#include <list>
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#include <vector>
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#include <stdexcept>
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#include <string>
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#include <memory>
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#include <gtsam_unstable/dllexport.h>
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#include "PartitionWorkSpace.h"
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namespace gtsam { namespace partition {
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/***************************************************
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* 2D generic factors and their factor graph
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***************************************************/
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enum GenericNode2DType { NODE_POSE_2D, NODE_LANDMARK_2D };
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/** the index of the node and the type of the node */
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struct GenericNode2D {
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std::size_t index;
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GenericNode2DType type;
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GenericNode2D (const std::size_t& index_in, const GenericNode2DType& type_in) : index(index_in), type(type_in) {}
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};
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/** a factor always involves two nodes/variables for now */
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struct GenericFactor2D {
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GenericNode2D key1;
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GenericNode2D key2;
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int index; // the factor index in the original nonlinear factor graph
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int weight; // the weight of the edge
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GenericFactor2D(const size_t index1, const GenericNode2DType type1, const size_t index2, const GenericNode2DType type2, const int index_ = -1, const int weight_ = 1)
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: key1(index1, type1), key2(index2, type2), index(index_), weight(weight_) {}
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GenericFactor2D(const size_t index1, const char type1, const size_t index2, const char type2, const int index_ = -1, const int weight_ = 1)
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: key1(index1, type1 == 'x' ? NODE_POSE_2D : NODE_LANDMARK_2D),
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key2(index2, type2 == 'x' ? NODE_POSE_2D : NODE_LANDMARK_2D), index(index_), weight(weight_) {}
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};
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/** graph is a collection of factors */
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typedef std::shared_ptr<GenericFactor2D> sharedGenericFactor2D;
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typedef std::vector<sharedGenericFactor2D> GenericGraph2D;
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/** merge nodes in DSF using constraints captured by the given graph */
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std::list<std::vector<size_t> > GTSAM_UNSTABLE_EXPORT findIslands(const GenericGraph2D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
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const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark);
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/** eliminate the sensors from generic graph */
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inline void reduceGenericGraph(const GenericGraph2D& graph, const std::vector<size_t>& cameraKeys, const std::vector<size_t>& landmarkKeys,
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const std::vector<int>& dictionary, GenericGraph2D& reducedGraph) {
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throw std::runtime_error("reduceGenericGraph 2d not implemented");
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}
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/** check whether the 2D graph is singular (under constrained) , Dummy function for 2D */
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inline void checkSingularity(const GenericGraph2D& graph, const std::vector<size_t>& frontals,
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WorkSpace& workspace, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) { return; }
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/** print the graph **/
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void print(const GenericGraph2D& graph, const std::string name = "GenericGraph2D");
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/***************************************************
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* 3D generic factors and their factor graph
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***************************************************/
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enum GenericNode3DType { NODE_POSE_3D, NODE_LANDMARK_3D };
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// const int minNrConstraintsPerCamera = 7;
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// const int minNrConstraintsPerLandmark = 2;
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/** the index of the node and the type of the node */
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struct GenericNode3D {
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std::size_t index;
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GenericNode3DType type;
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GenericNode3D (const std::size_t& index_in, const GenericNode3DType& type_in) : index(index_in), type(type_in) {}
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};
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/** a factor always involves two nodes/variables for now */
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struct GenericFactor3D {
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GenericNode3D key1;
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GenericNode3D key2;
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int index; // the index in the entire graph, 0-based
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int weight; // the weight of the edge
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GenericFactor3D() :key1(-1, NODE_POSE_3D), key2(-1, NODE_LANDMARK_3D), index(-1), weight(1) {}
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GenericFactor3D(const size_t index1, const size_t index2, const int index_ = -1,
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const GenericNode3DType type1 = NODE_POSE_3D, const GenericNode3DType type2 = NODE_LANDMARK_3D, const int weight_ = 1)
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: key1(index1, type1), key2(index2, type2), index(index_), weight(weight_) {}
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};
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/** graph is a collection of factors */
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typedef std::shared_ptr<GenericFactor3D> sharedGenericFactor3D;
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typedef std::vector<sharedGenericFactor3D> GenericGraph3D;
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/** merge nodes in DSF using constraints captured by the given graph */
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std::list<std::vector<size_t> > GTSAM_UNSTABLE_EXPORT findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
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const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
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/** eliminate the sensors from generic graph */
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void GTSAM_UNSTABLE_EXPORT reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys, const std::vector<size_t>& landmarkKeys,
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const std::vector<int>& dictionary, GenericGraph3D& reducedGraph);
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/** check whether the 3D graph is singular (under constrained) */
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void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals,
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WorkSpace& workspace, const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
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/** print the graph **/
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void print(const GenericGraph3D& graph, const std::string name = "GenericGraph3D");
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/***************************************************
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* unary generic factors and their factor graph
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***************************************************/
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/** a factor involves a single variable */
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struct GenericUnaryFactor {
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GenericNode2D key;
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int index; // the factor index in the original nonlinear factor graph
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GenericUnaryFactor(const size_t key_, const GenericNode2DType type_, const int index_ = -1)
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: key(key_, type_), index(index_) {}
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GenericUnaryFactor(const size_t key_, const char type_, const int index_ = -1)
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: key(key_, type_ == 'x' ? NODE_POSE_2D : NODE_LANDMARK_2D), index(index_) {}
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};
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/** graph is a collection of factors */
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typedef std::shared_ptr<GenericUnaryFactor> sharedGenericUnaryFactor;
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typedef std::vector<sharedGenericUnaryFactor> GenericUnaryGraph;
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/***************************************************
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* utility functions
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***************************************************/
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inline bool hasCommonCamera(const std::set<size_t>& cameras1, const std::set<size_t>& cameras2) {
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if (cameras1.empty() || cameras2.empty())
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throw std::invalid_argument("hasCommonCamera: the input camera set is empty!");
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std::set<size_t>::const_iterator it1 = cameras1.begin();
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std::set<size_t>::const_iterator it2 = cameras2.begin();
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while (it1 != cameras1.end() && it2 != cameras2.end()) {
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if (*it1 == *it2)
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return true;
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else if (*it1 < *it2)
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it1++;
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else
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it2++;
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}
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return false;
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}
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}} // namespace
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