void
Selection::removeIndex (const IndexVector &indices)
{
IndexVector::const_iterator it;
for(it = indices.begin(); it != indices.end(); ++it)
removeIndex(*it);
}
IndexVector::IndexVector(const IndexVector &rhs){
_length=rhs.length();
if(_length>0) {
_data = new int[_length];
memcpy(_data,rhs.data(),_length*sizeof(int) );
} else{
_data=0;
}
}
osg::Vec3f TriangleMeshSmoother::cumulateTriangleNormals(const IndexVector& triangles) const {
osg::Vec3f normal;
normal.set(0.f, 0.f, 0.f);
for(IndexVector::const_iterator triangle = triangles.begin() ; triangle != triangles.end() ; ++ triangle) {
const Triangle& t = _graph->triangle(*triangle);
normal += (t._normal * t._area);
}
return normal;
}
IGL_INLINE void igl::sparse(
const IndexVector & I,
const IndexVector & J,
const ValueVector & V,
Eigen::SparseMatrix<T>& X)
{
size_t m = (size_t)I.maxCoeff()+1;
size_t n = (size_t)J.maxCoeff()+1;
return igl::sparse(I,J,V,m,n,X);
}
IndexVector buildIndices(const std::string& expr, Iterator begin, Iterator end) const {
IndexVector indices;
for (Iterator i = begin; i != end; ++i) {
if (expr.empty() || i->matches(expr)) {
indices.push_back(std::distance(begin, i));
}
}
return indices;
}
/*!
* \brief children Populate a children list for the given contour. No control is made.
* \param _hierarchy OpenCV contour hierarchy used to find children.
* \param _parentIndex Index in _hierarchy of the given contour. _parentIndex must exist in _hierarchy.
* \param _children Output list of the found children.
* \return number of children.
*/
void ContourManager::children(const Hierarchy & _hierarchy, int _parentIndex, IndexVector & _children)
{
_children.clear();
int currentChild = _hierarchy[_parentIndex][HIERARCHY_INDEX_FIRST_CHILD];//First child
while (currentChild >= 0)
{
_children.push_back(currentChild);
currentChild = _hierarchy[currentChild][HIERARCHY_INDEX_NEXT];
}//while (currentChild >= 0)
}//children
void TriangleMeshSmoother::replaceVertexIndexInTriangles(const IndexVector& triangles, unsigned int oldIndex, unsigned int newIndex) {
for(IndexVector::const_iterator tri = triangles.begin() ; tri != triangles.end() ; ++ tri) {
Triangle& triangle = _graph->triangle(*tri);
if(triangle.v1() == oldIndex) {
triangle.v1() = newIndex;
}
else if(triangle.v2() == oldIndex) {
triangle.v2() = newIndex;
}
else if(triangle.v3() == oldIndex) {
triangle.v3() = newIndex;
}
}
}
void
AdjacencyRansac::InvalidateQueryIndices(IndexVector &query_indices)
{
if (query_indices.empty())
return;
// Figure out the points with those query indices
std::sort(query_indices.begin(), query_indices.end());
IndexVector::iterator end = std::unique(query_indices.begin(), query_indices.end());
query_indices.resize(end - query_indices.begin());
IndexVector indices_to_remove;
indices_to_remove.reserve(query_indices_.size());
IndexVector::const_iterator iter = query_indices.begin();
BOOST_FOREACH(unsigned int index, valid_indices_){
unsigned int query_index = query_indices_[index];
if (query_index < *iter)
continue;
// If the match has a keypoint in the inliers, remove the match
while ((iter != end) && (query_index > *iter))
++iter;
if (query_index == *iter)
{
indices_to_remove.push_back(index);
continue;
}
if (iter == end)
break;
}
void RemoveUnusedStructField::handleOneRecordDecl(const RecordDecl *RD,
const RecordDecl *BaseRD,
const FieldDecl *FD,
unsigned int Idx)
{
IndexVector *BaseIdxVec = RecordDeclToField[BaseRD];
if (!BaseIdxVec)
return;
IndexVector *NewIdxVec = RecordDeclToField[RD];
if (!NewIdxVec) {
NewIdxVec = new IndexVector();
RecordDeclToField[RD] = NewIdxVec;
}
NewIdxVec->push_back(Idx);
FieldToIdxVector[FD] = BaseIdxVec;
}
void testInterleavedSortingWithPops()
{
DPQ dpq;
IndexVector idVector;
const Index MAXI( 101 );
for( int n( MAXI-1 ); n != 0 ; n-=2 )
{
const Index id( dpq.push( n ) );
if( n == 12 || n == 46 )
{
idVector.push_back( id );
}
}
dpq.pop( idVector.back() );
idVector.pop_back();
BOOST_CHECK_EQUAL( MAXI/2 -1, dpq.getSize() );
BOOST_CHECK( dpq.checkConsistency() );
for( int n( MAXI ); n != -1 ; n-=2 )
{
const Index id( dpq.push( n ) );
if( n == 17 || n == 81 )
{
idVector.push_back( id );
}
}
for( typename IndexVector::const_iterator i( idVector.begin() );
i != idVector.end(); ++i )
{
dpq.pop( *i );
}
BOOST_CHECK( dpq.checkConsistency() );
BOOST_CHECK_EQUAL( MAXI-4, dpq.getSize() );
int n( 0 );
while( ! dpq.isEmpty() )
{
++n;
if( n == 12 || n == 46 || n == 17 || n == 81 )
{
continue;
}
BOOST_CHECK_EQUAL( n, dpq.getTop() );
dpq.popTop();
}
BOOST_CHECK_EQUAL( MAXI, Index( n ) );
BOOST_CHECK( dpq.isEmpty() );
BOOST_CHECK( dpq.checkConsistency() );
}
void testSimpleSortingWithPops()
{
DPQ dpq;
IndexVector idVector;
const Index MAXI( 100 );
for( int n( MAXI ); n != 0 ; --n )
{
Index id( dpq.push( n ) );
if( n == 11 || n == 45 )
{
idVector.push_back( id );
}
}
BOOST_CHECK( dpq.checkConsistency() );
BOOST_CHECK_EQUAL( MAXI, dpq.getSize() );
for( typename IndexVector::const_iterator i( idVector.begin() );
i != idVector.end(); ++i )
{
dpq.pop( *i );
}
BOOST_CHECK_EQUAL( MAXI - 2, dpq.getSize() );
int n( 0 );
while( ! dpq.isEmpty() )
{
++n;
if( n == 11 || n == 45 )
{
continue; // skip
}
BOOST_CHECK_EQUAL( int( n ), dpq.getTop() );
dpq.popTop();
}
BOOST_CHECK_EQUAL( MAXI, Index( n ) );
BOOST_CHECK( dpq.isEmpty() );
BOOST_CHECK( dpq.checkConsistency() );
}
void
AdjacencyList::node_neighbors(const int& local_index,
IndexVector& global_neighbor_indexes) const
{
BOOST_ASSERT(local_index < p_adjacency.size());
global_neighbor_indexes.clear();
std::copy(p_adjacency[local_index].begin(), p_adjacency[local_index].end(),
std::back_inserter(global_neighbor_indexes));
}
void
Select2DTool::end (int x, int y, BitMask modifiers, BitMask)
{
if (!cloud_ptr_)
return;
final_x_ = x;
final_y_ = y;
display_box_ = false;
// don't select anything if we don't have a selection box.
if ((final_x_ == origin_x_) || (final_y_ == origin_y_))
return;
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT,viewport);
IndexVector indices;
GLfloat project[16];
glGetFloatv(GL_PROJECTION_MATRIX, project);
Point3DVector ptsvec;
cloud_ptr_->getDisplaySpacePoints(ptsvec);
for(size_t i = 0; i < ptsvec.size(); ++i)
{
Point3D pt = ptsvec[i];
if (isInSelectBox(pt, project, viewport))
indices.push_back(i);
}
if (modifiers & SHFT)
{
selection_ptr_->addIndex(indices);
}
else if (modifiers & CTRL)
{
selection_ptr_->removeIndex(indices);
}
else
{
selection_ptr_->clear();
selection_ptr_->addIndex(indices);
}
cloud_ptr_->setSelection(selection_ptr_);
}
postTable::postTable (OpenTypeFile &aFont, MemoryBlockPtr memory) : Table (aFont)
{
MemoryPen pen (memory);
version = pen.readFixed();
if (version != 0x00020000 && version != 0x00030000)
throw Exception ("Unsupported table version: " + String (version, 16));
italicAngle = pen.readFixed();
underlinePosition = pen.readFWord();
underlineThickness = pen.readFWord();
isFixedPitch = pen.readULong();
minMemType42 = pen.readULong();
maxMemType42 = pen.readULong();
minMemType1 = pen.readULong();
maxMemType1 = pen.readULong();
if (version == 0x00020000) {
// Read glyph names
UShort glyphNum = pen.readUShort();
typedef vector<UShort> IndexVector;
IndexVector glyphNameIndices;
glyphNameIndices.reserve (glyphNum);
UShort i;
for (i = 0; i < glyphNum; i++)
glyphNameIndices.push_back (pen.readUShort());
vector<String> extraNames;
IndexVector::iterator index;
for (index = glyphNameIndices.begin(); index != glyphNameIndices.end(); index ++) {
if (*index < MACINTOSH_SET_SIZE)
postNames.push_back (macGlyphs [*index]);
else {
UShort extraIndex = *index - MACINTOSH_SET_SIZE;
while (extraNames.size() <= extraIndex) {
Byte nameLength = pen.readByte();
extraNames.push_back (pen.readString (nameLength));
}
postNames.push_back (extraNames [extraIndex]);
}
}
}
}
void RemoveUnusedStructField::setBaseLine(const RecordDecl *RD,
const FieldDecl *FD)
{
TheRecordDecl = RD;
TheFieldDecl = FD;
IndexVector *IdxVec = new IndexVector();
unsigned int Idx = FD->getFieldIndex();
IdxVec->push_back(Idx);
RecordDeclToField[RD] = IdxVec;
FieldToIdxVector[FD] = IdxVec;
// IsLastField = (FD->getNextDeclInContext() == NULL);
RecordDecl::field_iterator I = RD->field_begin();
IsFirstField = (FD == (*I));
RecordDecl::field_iterator E = RD->field_end();
for (; I != E; ++I) {
NumFields++;
}
}
void
TopologyGraph::dumpBoundary(const IndexVector& boundary, const std::string& filename)
{
if (boundary.empty())
return;
osg::Vec3Array* v = new osg::Vec3Array();
for (IndexVector::const_iterator i = boundary.begin(); i != boundary.end(); ++i)
{
const Index& index = *i;
v->push_back(osg::Vec3(index->x(), index->y(), 0));
}
osg::ref_ptr<osg::Geometry> g = new osg::Geometry();
g->setVertexArray(v);
g->addPrimitiveSet(new osg::DrawArrays(GL_LINE_LOOP, 0, v->size()));
g->addPrimitiveSet(new osg::DrawArrays(GL_POINTS, 0, v->size()));
g->getOrCreateStateSet()->setAttributeAndModes(new osg::Point(3));
osgDB::writeNodeFile(*(g.get()), filename);
}
// Sort elements and return sort index mapping.
bool NgramVector::Sort(const VocabVector &vocabMap,
const IndexVector &boNgramMap,
IndexVector &ngramMap) {
// Update word and hist indices.
for (size_t i = 0; i < size(); ++i) {
_words[i] = vocabMap[_words[i]];
_hists[i] = boNgramMap[_hists[i]];
}
// Sort indices.
NgramIndexCompare compare(*this);
IndexVector sortIndices = Range(0, size());
if (!sortIndices.sort(compare)) {
ngramMap = Range(size());
return false;
}
// Apply ordered indices to values.
// Build sort mapping that maps old to new indices.
VocabVector newWords(_words.length());
IndexVector newHists(_hists.length());
ngramMap.reset(size());
for (NgramIndex i = 0; i < (NgramIndex)size(); i++) {
newWords[i] = _words[sortIndices[i]];
newHists[i] = _hists[sortIndices[i]];
ngramMap[sortIndices[i]] = i;
}
_words.swap(newWords);
_hists.swap(newHists);
// Rebuild index map.
_Reindex(_indices.length());
// Build truncated view into words and hists.
Range r(_length);
_wordsView.attach(_words[r]);
_histsView.attach(_hists[r]);
return true;
}
bool AlignmentAlgorithmSE2::operator()(AlignmentAlgorithmSE2::TransformType& transform, const CorrespondenceVector& correspondences, const IndexVector& indices){
if ((int)indices.size()<minimalSetSize())
return false;
SE2 x0;
SE2 ix0;
double deltaRSum=0.;
Vector2d mean1(0.,0.);
Vector2d mean2(0.,0.);
for (size_t i=0; i<indices.size(); i++){
const Correspondence& c = correspondences[indices[i]];
const EdgeSE2* edge = static_cast<const g2o::EdgeSE2*>(c.edge());
const VertexSE2* v1 = static_cast<const g2o::VertexSE2*>(edge->vertex(0));
const VertexSE2* v2 = static_cast<const g2o::VertexSE2*>(edge->vertex(1));
SE2 xi = v2->estimate()*v1->estimate().inverse();
mean1 += v1->estimate().translation();
mean2 += v2->estimate().translation();
if (i==0){
x0 = xi;
ix0 = x0.inverse();
} else {
SE2 delta=ix0*xi;
deltaRSum += delta.rotation().angle();
}
}
int count = indices.size();
double icount = 1./double(count);
deltaRSum*=icount;
mean1*=icount;
mean2*=icount;
Rotation2Dd R = x0.rotation()*Rotation2Dd(deltaRSum);
transform.setRotation(R);
transform.setTranslation(mean2 - R*mean1);
transform = transform.inverse();
return true;
}
void _computeReverseMap() {
_genesToTranscripts.resize( _geneNames.size(), {});
Index geneID;
Index transcriptID = 0;
size_t maxNumTrans = 0;
Index maxGene;
for ( size_t transcriptID = 0; transcriptID < _transcriptsToGenes.size(); ++transcriptID ) {
_genesToTranscripts[ _transcriptsToGenes[transcriptID] ].push_back( transcriptID );
if ( maxNumTrans < _genesToTranscripts[ _transcriptsToGenes[transcriptID] ].size() ) {
maxNumTrans = _genesToTranscripts[ _transcriptsToGenes[transcriptID] ].size();
maxGene = _transcriptsToGenes[transcriptID];
}
}
std::cerr << "max # of transcripts in a gene was " << maxNumTrans << " in gene " << _geneNames[maxGene] << "\n";
}
bool IdCorrespondenceValidator::operator()(const CorrespondenceVector& correspondences, const IndexVector& indices, int k){
if (k>minimalSetSize())
return true;
assert(indices.size()>=k && "VALIDATION_INDEX_OUT_OF_BOUND");
assert(correspondences.size()>=indices[k] && "VALIDATION_CORRESPONDENCE_INDEX_OUT_OF_BOUND");
const g2o::OptimizableGraph::Edge* edgek = correspondences[indices[k]].edge();
int idk1=edgek->vertex(0)->id();
int idk2=edgek->vertex(1)->id();
for (int i=0; i<k-1; i++){
const g2o::OptimizableGraph::Edge* edge = correspondences[indices[i]].edge();
int id1=edge->vertex(0)->id();
int id2=edge->vertex(1)->id();
if (idk1==id1)
return false;
if (idk2==id2)
return false;
}
return true;
}
void
Selection::addIndex (const IndexVector &indices)
{
selected_indices_.insert(indices.begin(), indices.end());
}
CRSIndexMatrix::CRSIndexMatrix(IndexVector &row, IndexVector &col, IndexVector &values){
int idx, rowidx, datalen, rowdiff, offset, length=row.length();
/* *** determine number of rows and cols */
int nRow=0,nCol=0;
for(int k=0;k<length;k++){
if(row(k)>nRow) nRow=row(k);
if(col(k)>nCol) nCol=col(k);
}
nRow+=1;
nCol+=1; /* row and col index start with 0... */
/* *** initialize temporary variables */
int* data = new int[length];
int* colindex = new int[length];
int* rowptr = new int[nRow+1];
int* rowoff = new int[nRow];
memset(rowptr,0,(nRow+1)*sizeof(int));
/* *** create rowptr */
for(int k=0 ; k<length ; k++){
rowptr[row(k)+1]++;
}
for(int k=1 ; k<nRow ; k++){
rowptr[k+1] = rowptr[k+1]+rowptr[k];
}
memcpy(rowoff,rowptr,nRow*sizeof(int));
/* *** copy column index and values */
for(int k=0;k<length;k++){
idx = rowoff[ row(k) ];
rowoff[row(k) ]++;
data[idx] = values(k);
colindex[idx] = col(k);
}
/* *** sort values of each row */
for(int k=0;k<nRow;k++){
if(rowptr[k+1]>rowptr[k] ){
insort(colindex+rowptr[k],data+rowptr[k],rowptr[k+1]-rowptr[k]);
}
}
/* *** sum up entries with same indices and compress the data structures */
idx=0; rowidx=0; rowdiff=0;
for(int k=0;k<length;){
while(rowptr[rowidx+1]==k){
rowidx++;
rowptr[rowidx]-=rowdiff;
}
/* *** sum upp values with similar row and column indices */
offset=1;
while(k+offset < rowptr[rowidx+1] && colindex[k] == colindex[k+offset]){
data[k] += data[k+offset];
offset+=1;
}
if(data[k] != 0){
data[idx] = data[k] ;
colindex[idx] = colindex[k];
idx++;
rowdiff+=(offset-1);
}else{
/* *** ignore values that are 0 */
rowdiff+=offset;
}
k+=offset;
}
datalen=idx;
for(int k=rowidx+1;k<nRow+1;k++)
rowptr[k]= datalen;
/* *** set private variables */
_data = new int[datalen];
memcpy(_data, data, datalen*sizeof(int) );
_colindex = new int[datalen];
memcpy(_colindex, colindex, datalen*sizeof(int) );
_rowptr = rowptr;
_cols = nCol;
_rows = nRow;
_nonZeros = datalen;
delete []data;
delete []colindex;
}
// returns the number of race conditions detected (0 or 1 as of now)
int Specialization::verifyUpdateSequenceRaceConditions(LoopInfoSet& loopInfoSet, ArrayUpdatesSequence& arrayUpdates, VariableIdMapping* variableIdMapping) {
int cnt=0;
stringstream ss;
cout<<"STATUS: checking race conditions."<<endl;
cout<<"INFO: number of parallel loops: "<<numParLoops(loopInfoSet,variableIdMapping)<<endl;
VariableIdSet allIterVars;
for(LoopInfoSet::iterator lis=loopInfoSet.begin();lis!=loopInfoSet.end();++lis) {
allIterVars.insert((*lis).iterationVarId);
}
for(LoopInfoSet::iterator lis=loopInfoSet.begin();lis!=loopInfoSet.end();++lis) {
if((*lis).iterationVarType==ITERVAR_PAR) {
VariableId parVariable;
parVariable=(*lis).iterationVarId;
cout<<"INFO: checking parallel loop: "<<variableIdMapping->variableName(parVariable)<<endl;
// race check
// intersect w-set_i = empty
// w-set_i intersect r-set_j = empty, i!=j.
IndexToReadWriteDataMap indexToReadWriteDataMap;
for(ArrayUpdatesSequence::iterator i=arrayUpdates.begin();i!=arrayUpdates.end();++i) {
const EState* estate=(*i).first;
const PState* pstate=estate->pstate();
SgExpression* exp=(*i).second;
IndexVector index;
// use all vars for indexing or only outer+par loop variables
#ifdef USE_ALL_ITER_VARS
for(VariableIdSet::iterator ol=allIterVars.begin();ol!=allIterVars.end();++ol) {
VariableId otherVarId=*ol;
ROSE_ASSERT(otherVarId.isValid());
if(!pstate->varValue(otherVarId).isTop()) {
int otherIntVal=pstate->varValue(otherVarId).getIntValue();
index.push_back(otherIntVal);
}
}
#else
for(VariableIdSet::iterator ol=(*lis).outerLoopsVarIds.begin();ol!=(*lis).outerLoopsVarIds.end();++ol) {
VariableId otherVarId=*ol;
ROSE_ASSERT(otherVarId.isValid());
if(!pstate->varValue(otherVarId).isTop()&&pstate->varValue(otherVarId).isConstInt()) {
int otherIntVal=pstate->varValue(otherVarId).getIntValue();
index.push_back(otherIntVal);
}
}
if(!pstate->varValue(parVariable).isTop()&&pstate->varValue(parVariable).isConstInt()) {
int parIntVal=pstate->varValue(parVariable).getIntValue();
index.push_back(parIntVal);
}
#endif
if((*lis).isInAssociatedLoop(estate)) {
SgExpression* lhs=isSgExpression(SgNodeHelper::getLhs(exp));
SgExpression* rhs=isSgExpression(SgNodeHelper::getRhs(exp));
ROSE_ASSERT(isSgPntrArrRefExp(lhs)||SgNodeHelper::isFloatingPointAssignment(exp));
//cout<<"EXP: "<<exp->unparseToString()<<", lhs:"<<lhs->unparseToString()<<" :: "<<endl;
// read-set
RoseAst rhsast(rhs);
for(RoseAst::iterator j=rhsast.begin();j!=rhsast.end();++j) {
if(SgPntrArrRefExp* useRef=isSgPntrArrRefExp(*j)) {
j.skipChildrenOnForward();
ArrayElementAccessData access(useRef,variableIdMapping);
indexToReadWriteDataMap[index].readArrayAccessSet.insert(access);
} else if(SgVarRefExp* useRef=isSgVarRefExp(*j)) {
ROSE_ASSERT(useRef);
j.skipChildrenOnForward();
VariableId varId=variableIdMapping->variableId(useRef);
indexToReadWriteDataMap[index].readVarIdSet.insert(varId);
} else {
//cout<<"INFO: UpdateExtraction: ignored expression on rhs:"<<(*j)->unparseToString()<<endl;
}
}
if(SgPntrArrRefExp* arr=isSgPntrArrRefExp(lhs)) {
ArrayElementAccessData access(arr,variableIdMapping);
indexToReadWriteDataMap[index].writeArrayAccessSet.insert(access);
} else if(SgVarRefExp* var=isSgVarRefExp(lhs)) {
VariableId varId=variableIdMapping->variableId(var);
indexToReadWriteDataMap[index].writeVarIdSet.insert(varId);
} else {
cerr<<"Error: SSA Numbering: unknown LHS."<<endl;
exit(1);
}
ss<<"UPD"<<cnt<<":"<<pstate->toString(variableIdMapping)<<" : "<<exp->unparseToString()<<endl;
++cnt;
}
} // array sequence iter
// to be utilized later for more detailed output
#if 0
for(IndexToReadWriteDataMap::iterator imap=indexToReadWriteDataMap.begin();
imap!=indexToReadWriteDataMap.end();
++imap) {
// cout<<"DEBUG: INDEX: "<<(*imap).first<<" R-SET: ";
IndexVector index=(*imap).first;
cout<<"DEBUG: INDEX: ";
for(IndexVector::iterator iv=index.begin();iv!=index.end();++iv) {
if(iv!=index.begin())
cout<<",";
cout<<*iv;
}
cout<<" R-SET: ";
for(ArrayElementAccessDataSet::const_iterator i=indexToReadWriteDataMap[index].readArrayAccessSet.begin();i!=indexToReadWriteDataMap[index].readArrayAccessSet.end();++i) {
cout<<(*i).toString(variableIdMapping)<<" ";
}
cout<<endl;
cout<<"DEBUG: INDEX: ";
for(IndexVector::iterator iv=index.begin();iv!=index.end();++iv) {
if(iv!=index.begin())
cout<<",";
cout<<*iv;
}
cout<<" W-SET: ";
for(ArrayElementAccessDataSet::const_iterator i=indexToReadWriteDataMap[index].writeArrayAccessSet.begin();i!=indexToReadWriteDataMap[index].writeArrayAccessSet.end();++i) {
cout<<(*i).toString(variableIdMapping)<<" ";
}
cout<<endl;
cout<<"DEBUG: read-array-access:"<<indexToReadWriteDataMap[index].readArrayAccessSet.size()<<" read-var-access:"<<indexToReadWriteDataMap[index].readVarIdSet.size()<<endl;
cout<<"DEBUG: write-array-access:"<<indexToReadWriteDataMap[index].writeArrayAccessSet.size()<<" write-var-access:"<<indexToReadWriteDataMap[index].writeVarIdSet.size()<<endl;
} // imap
#endif
// perform the check now
// 1) compute vector if index-vectors for each outer-var-vector
// 2) check each index-vector. For each iteration of each par-loop iteration then.
//typedef set<int> ParVariableValueSet;
//ParVariableValueSet parVariableValueSet;
// MAP: par-variable-val -> vector of IndexVectors with this par-variable-val
typedef vector<IndexVector> ThreadVector;
typedef map<IndexVector,ThreadVector > CheckMapType;
CheckMapType checkMap;
for(IndexToReadWriteDataMap::iterator imap=indexToReadWriteDataMap.begin();
imap!=indexToReadWriteDataMap.end();
++imap) {
IndexVector index=(*imap).first;
IndexVector outVarIndex;
// if index.size()==0, it will analyze the loop independet of outer loops
if(index.size()>0) {
ROSE_ASSERT(index.size()>0);
for(size_t iv1=0;iv1<index.size()-1;iv1++) {
outVarIndex.push_back(index[iv1]);
}
ROSE_ASSERT(outVarIndex.size()<index.size());
} else {
// nothing to check
continue;
}
// last index of index of par-variable
//int parVariableValue=index[index.size()-1];
checkMap[outVarIndex].push_back(index);
}
//cout<<"INFO: race condition check-map size: "<<checkMap.size()<<endl;
// perform the check now
for(CheckMapType::iterator miter=checkMap.begin();miter!=checkMap.end();++miter) {
IndexVector outerVarIndexVector=(*miter).first;
ThreadVector threadVectorToCheck=(*miter).second;
//cout<<"DEBUG: to check: "<<threadVectorToCheck.size()<<endl;
for(ThreadVector::iterator tv1=threadVectorToCheck.begin();tv1!=threadVectorToCheck.end();++tv1) {
ArrayElementAccessDataSet wset=indexToReadWriteDataMap[*tv1].writeArrayAccessSet;
for(ThreadVector::iterator tv2=tv1;tv2!=threadVectorToCheck.end();++tv2) {
ThreadVector::iterator tv2b=tv2;
++tv2b;
if(tv2b!=threadVectorToCheck.end()) {
ArrayElementAccessDataSet rset2=indexToReadWriteDataMap[*tv2b].readArrayAccessSet;
ArrayElementAccessDataSet wset2=indexToReadWriteDataMap[*tv2b].writeArrayAccessSet;
// check intersect(rset,wset)
if(accessSetIntersect(wset,rset2)) {
// verification failed
cout<<"INFO: race condition detected (wset1,rset2)."<<endl;
return 1;
}
if(accessSetIntersect(wset,wset2)) {
// verification failed
cout<<"INFO: race condition detected (wset1,wset2)."<<endl;
return 1;
}
}
}
}
}
} // if parallel loop
} // foreach loop
return 0;
}
IGL_INLINE void igl::sparse(
const IndexVector & I,
const IndexVector & J,
const ValueVector & V,
const size_t m,
const size_t n,
Eigen::SparseMatrix<T>& X)
{
using namespace std;
using namespace Eigen;
assert((int)I.maxCoeff() < (int)m);
assert((int)I.minCoeff() >= 0);
assert((int)J.maxCoeff() < (int)n);
assert((int)J.minCoeff() >= 0);
assert(I.size() == J.size());
assert(J.size() == V.size());
// Really we just need .size() to be the same, but this is safer
assert(I.rows() == J.rows());
assert(J.rows() == V.rows());
assert(I.cols() == J.cols());
assert(J.cols() == V.cols());
vector<Triplet<T> > IJV;
IJV.reserve(I.size());
for(int x = 0;x<I.size();x++)
{
IJV.push_back(Triplet<T >(I(x),J(x),V(x)));
}
X.resize(m,n);
X.setFromTriplets(IJV.begin(),IJV.end());
}
IGL_INLINE void igl::sparse(
const IndexVector & I,
const IndexVector & J,
const ValueVector & V,
const size_t m,
const size_t n,
Eigen::SparseMatrix<T>& X)
{
using namespace std;
using namespace Eigen;
assert((int)I.maxCoeff() < (int)m);
assert((int)I.minCoeff() >= 0);
assert((int)J.maxCoeff() < (int)n);
assert((int)J.minCoeff() >= 0);
assert(I.size() == J.size());
assert(J.size() == V.size());
// Really we just need .size() to be the same, but this is safer
assert(I.rows() == J.rows());
assert(J.rows() == V.rows());
assert(I.cols() == J.cols());
assert(J.cols() == V.cols());
//// number of values
//int nv = V.size();
//Eigen::DynamicSparseMatrix<T, Eigen::RowMajor> dyn_X(m,n);
//// over estimate the number of entries
//dyn_X.reserve(I.size());
//for(int i = 0;i < nv;i++)
//{
// dyn_X.coeffRef((int)I(i),(int)J(i)) += (T)V(i);
//}
//X = Eigen::SparseMatrix<T>(dyn_X);
vector<Triplet<T> > IJV;
IJV.reserve(I.size());
for(int x = 0;x<I.size();x++)
{
IJV.push_back(Triplet<T >(I(x),J(x),V(x)));
}
X.resize(m,n);
X.setFromTriplets(IJV.begin(),IJV.end());
}
/* *** math operations *******************************************/
int IndexVector::dot(IndexVector &x){
assert(_length==x.length());
int tmp=0;
for(int k=0;k<_length;k++) tmp+= _data[k]*x(k);
return tmp;
}
void IndexVector::add(IndexVector &x, int alpha){
assert(_length==x.length());
for(int k=0;k<_length;k++) _data[k]+=alpha*x(k);
}
bool AlignmentAlgorithmPlaneLinear::operator()(AlignmentAlgorithmPlaneLinear::TransformType& transform, const CorrespondenceVector& correspondences, const IndexVector& indices)
{
double err=0;
//If my correspondaces indices are less then a minimum threshold, stop it please
if ((int)indices.size()<minimalSetSize()) return false;
//My initial guess for the transformation it's the identity matrix
//maybe in the future i could have a less rough guess
transform = Isometry3d::Identity();
//Unroll the matrix to a vector
Vector12d x=homogeneous2vector(transform.matrix());
Matrix9x1d rx=x.block<9,1>(0,0);
//Initialization of variables, melting fat, i've so much space
Matrix9d H;
H.setZero();
Vector9d b;
b.setZero();
Matrix3x9d A;
//iteration for each correspondace
for (size_t i=0; i<indices.size(); i++)
{
A.setZero();
const Correspondence& c = correspondences[indices[i]];
const EdgePlane* edge = static_cast<const EdgePlane*>(c.edge());
//estraggo i vertici dagli edge
const VertexPlane* v1 = static_cast<const VertexPlane*>(edge->vertex(0));
const VertexPlane* v2 = static_cast<const VertexPlane*>(edge->vertex(1));
//recupero i dati dei piani
const AlignmentAlgorithmPlaneLinear::PointEstimateType& pi= v1->estimate();
const AlignmentAlgorithmPlaneLinear::PointEstimateType& pj= v2->estimate();
//recupeo le normali, mi servono per condizionare la parte rotazionale
Vector3d ni;
Vector3d nj;
Vector4d coeffs_i=pi.toVector();
Vector4d coeffs_j=pj.toVector();
ni=coeffs_i.head(3);
nj=coeffs_j.head(3);
//inizializzo lo jacobiano, solo la parte rotazionale (per ora)
A.block<1,3>(0,0)=nj.transpose();
A.block<1,3>(1,3)=nj.transpose();
A.block<1,3>(2,6)=nj.transpose();
if(DEBUG) {
cerr << "[DEBUG] PI"<<endl;
cerr << coeffs_i<<endl;
cerr << "[DEBUG] PJ "<<endl;
cerr << coeffs_j<<endl;
cerr << "[ROTATION JACOBIAN][PLANE "<<i<<"]"<<endl;
cerr << A<<endl;
}
//errore
//inizializzo errore
Vector3d ek;
ek.setZero();
ek=A*x.block<9,1>(0,0)-coeffs_i.head(3);
H+=A.transpose()*A;
b+=A.transpose()*ek;
err+=abs(ek.dot(ek));
if(DEBUG)
cerr << "[ROTATIONAL Hessian for plane "<<i<<"]"<<endl<<H<<endl;
if(DEBUG)
cerr << "[ROTATIONAL B for plane "<<i<<"]"<<endl<<b<<endl;
}
LDLT<Matrix9d> ldlt(H);
if (ldlt.isNegative()) return false;
rx=ldlt.solve(-b); // using a LDLT factorizationldlt;
x.block<3,1>(0,0)+=rx.block<3,1>(0,0);
x.block<3,1>(3,0)+=rx.block<3,1>(3,0);
x.block<3,1>(6,0)+=rx.block<3,1>(6,0);
if(DEBUG) {
cerr << "Solving the linear system"<<endl;
cerr << "------------>H"<<endl;
cerr << H<<endl;
cerr << "------------>b"<<endl;
cerr << b<<endl;
cerr << "------------>rx"<<endl;
cerr << rx<<endl;
cerr << "------------>xTEMP"<<endl;
cerr << vector2homogeneous(x)<<endl<<endl;
cerr << "łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł"<<endl;
cerr << "łłłłłłłłłłł Ringraziamo Cthulhu la parte rotazionale è finitałłłłłłłłłłł"<<endl;
cerr << "łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł łłłłłłłłłłł"<<endl;
}
Matrix4d Xtemp=vector2homogeneous(x);
//now the problem si solved but i could have (and probably i have!)
//a not orthogonal rotation matrix, so i've to recondition it
Matrix3x3d R=Xtemp.block<3,3>(0,0);
// recondition the rotation
JacobiSVD<Matrix3x3d> svd(R, Eigen::ComputeThinU | Eigen::ComputeThinV);
if (svd.singularValues()(0)<.5) return false;
R=svd.matrixU()*svd.matrixV().transpose();
Isometry3d X = Isometry3d::Identity();
X.linear()=R;
X.translation()= x.block<3,1>(0,3);
if(DEBUG)
cerr << "X dopo il ricondizionamento appare come:"<<endl;
if(DEBUG)
cerr << X.matrix()<<endl;
Matrix3d H2=Matrix3d::Zero();
Vector3d b2=Vector3d::Zero();
Vector3d A2=Vector3d::Zero();
//at this point rotation is cured, now it's time to work on the translation
for (size_t i=0; i<indices.size(); i++)
{
if(DEBUG)
cerr << "[TRANSLATION JACOBIAN START][PLANE "<<i<<"]"<<endl;
const Correspondence& c = correspondences[indices[i]];
const EdgePlane* edge = static_cast<const EdgePlane*>(c.edge());
//estraggo i vertici dagli edge
const VertexPlane* v1 = static_cast<const VertexPlane*>(edge->vertex(0));
const VertexPlane* v2 = static_cast<const VertexPlane*>(edge->vertex(1));
//recupero i dati dei piani
const AlignmentAlgorithmPlaneLinear::PointEstimateType& pi= v1->estimate();
const AlignmentAlgorithmPlaneLinear::PointEstimateType& pj= v2->estimate();
//recupeo le normali, mi servono per condizionare la parte rotazionale
Vector3d ni;
Vector3d nj;
Vector4d coeffs_i=pi.toVector();
Vector4d coeffs_j=pj.toVector();
double di;
double dj;
ni=coeffs_i.head(3);
nj=coeffs_j.head(3);
di=coeffs_i(3);
dj=coeffs_j(3);
if(DEBUG)
cerr << "[TRANSLATION JACOBIAN][ JACOBIAN IS: ]"<<endl;
A2=(-nj.transpose()*R.transpose());
if(DEBUG)
cerr << A2<<endl;
double ek;
ek=dj+A2.transpose()*X.translation()-di;
H2+=A2*A2.transpose();
b2+= (A2.transpose()*ek);
err += abs(ek*ek);
if(DEBUG)
cerr << "[TRANSLATIONAL Hessian for plane "<<i<<"]"<<endl<<H2<<endl;
if(DEBUG)
cerr << "[TRANSLATIONAL B for plane "<<i<<"]"<<endl<<b2<<endl;
}
if(DEBUG)
cerr << "[FINAL][TRANSLATIONAL Hessian]"<<endl<<H2<<endl;
if(DEBUG)
cerr << "[FINAL][TRANSLATIONAL B]"<<endl<<b2<<endl;
//solving the system
Vector3d dt;
LDLT<Matrix3d> ldlt2(H2);
dt=ldlt2.solve(-b2); // using a LDLT factorizationldlt;
if(DEBUG)
cerr << "[FINAL][TRANSLATIONAL DT]"<<endl<<dt<<endl;
X.translation()+=dt;
transform = X;
if(DEBUG)
{
cerr << "TRANSFORM found: " << endl<< endl<< endl;
cerr << g2o::internal::toVectorMQT(X) << endl;;
cerr << transform.matrix()<< endl;;
}
return true;
}
static void expandLabels(Bundle& bundle, size_t beamSize)
{
auto& outputActivationsVector = bundle["outputActivations"].get<MatrixVector>();
auto& outputActivations = outputActivationsVector.back();
auto& labels = bundle["referenceLabels"].get<LabelVector>();
auto& inputTimesteps = bundle["inputTimesteps"].get<IndexVector>();
size_t characters = outputActivations.size().front();
size_t miniBatchSize = outputActivations.size()[outputActivations.size().size() - 2];
size_t maxTimesteps = outputActivations.size()[outputActivations.size().size() - 1];
size_t originalMiniBatchSize = miniBatchSize / beamSize;
LabelVector expandedLabels;
IndexVector expandedTimesteps;
for(size_t miniBatch = 0; miniBatch < originalMiniBatchSize; ++miniBatch)
{
for(size_t beam = 0; beam < beamSize; ++beam)
{
expandedLabels.push_back(labels[miniBatch]);
expandedTimesteps.push_back(inputTimesteps[miniBatch]);
}
}
labels = std::move(expandedLabels);
inputTimesteps = std::move(expandedTimesteps);
auto referenceActivations = matrix::zeros({characters, miniBatchSize, maxTimesteps},
outputActivations.precision());
for(size_t miniBatch = 0; miniBatch < miniBatchSize; ++miniBatch)
{
for(size_t timestep = 0; timestep < maxTimesteps; ++timestep)
{
if(timestep < labels[miniBatch].size())
{
size_t character = labels[miniBatch][timestep];
assert(character < characters);
referenceActivations(character, miniBatch, timestep) = 1.0;
}
else
{
referenceActivations(characters - 1, miniBatch, timestep) = 1.0;
}
}
}
if(util::isLogEnabled("CTCDecoderLayer::Detail"))
{
util::log("CTCDecoderLayer::Detail") << " reference labels: \n";
for(auto& label : labels)
{
util::log("CTCDecoderLayer::Detail") << " reference label: "
<< util::toString(label) << "\n";
}
util::log("CTCDecoderLayer::Detail") << " reference activations: "
<< referenceActivations.debugString();
}
else
{
util::log("CTCDecoderLayer::Detail") << " reference labels size: "
<< labels.size() << "\n";
util::log("CTCDecoderLayer") << " reference activations size: "
<< outputActivations.shapeString() << "\n";
}
bundle["referenceActivations"] = MatrixVector({referenceActivations});
}
