void computeBorder(StarSet& stars, EdgeStarMap& hesmap){
cerr << "computing edges on the border" << endl;
for (StarSet::iterator it=stars.begin(); it!=stars.end(); it++){
Star* s=*it;
for (HyperGraph::EdgeSet::iterator iit=s->_starEdges.begin(); iit!=s->_starEdges.end(); iit++){
OptimizableGraph::Edge* e= (OptimizableGraph::Edge*) *iit;
StarSet sset;
starsInEdge(sset, e, hesmap, s->gauge());
//cerr << "e: " << e << " l:" << e->level() << " sset.size()=" << sset.size() << endl;
if (sset.size()>1){
s->starFrontierEdges().insert(e);
}
}
}
}
void starsInVertex(StarSet& stars, HyperGraph::Vertex* v, EdgeStarMap& esmap){
for (HyperGraph::EdgeSet::iterator it=v->edges().begin(); it!=v->edges().end(); it++){
HyperGraph::Edge* e=*it;
EdgeStarMap::iterator eit=esmap.find(e);
if (eit!=esmap.end())
stars.insert(eit->second);
}
}
void constructEdgeStarMap(EdgeStarMap& esmap, StarSet& stars, bool low){
esmap.clear();
for (StarSet::iterator it=stars.begin(); it!=stars.end(); it++){
Star* s = *it;
if (low) {
for (HyperGraph::EdgeSet::iterator it = s->lowLevelEdges().begin();
it!=s->lowLevelEdges().end(); it++){
HyperGraph::Edge* e=*it;
esmap.insert(make_pair(e,s));
}
} else {
for (HyperGraph::EdgeSet::iterator it = s->starEdges().begin();
it!=s->starEdges().end(); it++){
HyperGraph::Edge* e=*it;
esmap.insert(make_pair(e,s));
}
}
}
}
StarSet StarMap::reachable(const Star& star, double threshold) const
{
StarSet result;
breadth_first_search(
byDistance(threshold),
star,
visitor(
make_bfs_visitor(
write_property(
typed_identity_property_map<Star>(),
inserter(result, result.begin()),
on_discover_vertex()
)
)
)
);
return result;
}
void computeSimpleStars(StarSet& stars,
SparseOptimizer* optimizer,
EdgeLabeler* labeler,
EdgeCreator* creator,
OptimizableGraph::Vertex* gauge_,
std::string edgeTag,
std::string vertexTag,
int level,
int step,
int backboneIterations,
int starIterations,
double rejectionThreshold,
bool debug){
cerr << "preforming the tree actions" << endl;
HyperDijkstra d(optimizer);
// compute a spanning tree based on the types of edges and vertices in the pool
EdgeTypesCostFunction f(edgeTag, vertexTag, level);
d.shortestPaths(gauge_,
&f,
std::numeric_limits< double >::max(),
1e-6,
false,
std::numeric_limits< double >::max()/2);
HyperDijkstra::computeTree(d.adjacencyMap());
// constructs the stars on the backbone
BackBoneTreeAction bact(optimizer, vertexTag, level, step);
bact.init();
cerr << "free edges size " << bact.freeEdges().size() << endl;
// perform breadth-first visit of the visit tree and create the stars on the backbone
d.visitAdjacencyMap(d.adjacencyMap(),&bact,true);
stars.clear();
for (VertexStarMultimap::iterator it=bact.vertexStarMultiMap().begin();
it!=bact.vertexStarMultiMap().end(); it++){
stars.insert(it->second);
}
cerr << "stars.size: " << stars.size() << endl;
cerr << "size: " << bact.vertexStarMultiMap().size() << endl;
// for each star
// for all vertices in the backbone, select all edges leading/leaving from that vertex
// that are contained in freeEdges.
// mark the corresponding "open" vertices and add them to a multimap (vertex->star)
// select a gauge in the backbone
// push all vertices on the backbone
// compute an initial guess on the backbone
// one round of optimization backbone
// lock all vertices in the backbone
// push all "open" vertices
// for each open vertex,
// compute an initial guess given the backbone
// do some rounds of solveDirect
// if (fail)
// - remove the vertex and the edges in that vertex from the star
// - make the structures consistent
// pop all "open" vertices
// pop all "vertices" in the backbone
// unfix the vertices in the backbone
int starNum=0;
for (StarSet::iterator it=stars.begin(); it!=stars.end(); it++){
Star* s =*it;
HyperGraph::VertexSet backboneVertices = s->_lowLevelVertices;
HyperGraph::EdgeSet backboneEdges = s->_lowLevelEdges;
if (backboneEdges.empty())
continue;
// cerr << "optimizing backbone" << endl;
// one of these should be the gauge, to be simple we select the fisrt one in the backbone
OptimizableGraph::VertexSet gauge;
gauge.insert(*backboneVertices.begin());
s->gauge()=gauge;
s->optimizer()->push(backboneVertices);
s->optimizer()->setFixed(gauge,true);
s->optimizer()->initializeOptimization(backboneEdges);
s->optimizer()->computeInitialGuess();
s->optimizer()->optimize(backboneIterations);
s->optimizer()->setFixed(backboneVertices, true);
// cerr << "assignind edges.vertices not in bbone" << endl;
HyperGraph::EdgeSet otherEdges;
HyperGraph::VertexSet otherVertices;
std::multimap<HyperGraph::Vertex*, HyperGraph::Edge*> vemap;
for (HyperGraph::VertexSet::iterator bit=backboneVertices.begin(); bit!=backboneVertices.end(); bit++){
HyperGraph::Vertex* v=*bit;
for (HyperGraph::EdgeSet::iterator eit=v->edges().begin(); eit!=v->edges().end(); eit++){
OptimizableGraph::Edge* e = (OptimizableGraph::Edge*) *eit;
HyperGraph::EdgeSet::iterator feit=bact.freeEdges().find(e);
if (feit!=bact.freeEdges().end()){ // edge is admissible
otherEdges.insert(e);
bact.freeEdges().erase(feit);
for (size_t i=0; i<e->vertices().size(); i++){
OptimizableGraph::Vertex* ve= (OptimizableGraph::Vertex*)e->vertices()[i];
if (backboneVertices.find(ve)==backboneVertices.end()){
otherVertices.insert(ve);
vemap.insert(make_pair(ve,e));
}
}
}
}
}
// RAINER TODO maybe need a better solution than dynamic casting here??
OptimizationAlgorithmWithHessian* solverWithHessian = dynamic_cast<OptimizationAlgorithmWithHessian*>(s->optimizer()->solver());
if (solverWithHessian) {
s->optimizer()->push(otherVertices);
// cerr << "optimizing vertices out of bbone" << endl;
// cerr << "push" << endl;
// cerr << "init" << endl;
s->optimizer()->initializeOptimization(otherEdges);
// cerr << "guess" << endl;
s->optimizer()->computeInitialGuess();
// cerr << "solver init" << endl;
s->optimizer()->solver()->init();
// cerr << "structure" << endl;
if (!solverWithHessian->buildLinearStructure())
cerr << "FATAL: failure while building linear structure" << endl;
// cerr << "errors" << endl;
s->optimizer()->computeActiveErrors();
// cerr << "system" << endl;
solverWithHessian->updateLinearSystem();
// cerr << "directSolove" << endl;
} else {
cerr << "FATAL: hierarchical thing cannot be used with a solver that does not support the system structure construction" << endl;
}
// // then optimize the vertices one at a time to check if a solution is good
for (HyperGraph::VertexSet::iterator vit=otherVertices.begin(); vit!=otherVertices.end(); vit++){
OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)(*vit);
v->solveDirect();
// cerr << " " << d;
// if a solution is found, add a vertex and all the edges in
//othervertices that are pointing to that edge to the star
s->_lowLevelVertices.insert(v);
for (HyperGraph::EdgeSet::iterator eit=v->edges().begin(); eit!=v->edges().end(); eit++){
OptimizableGraph::Edge* e = (OptimizableGraph::Edge*) *eit;
if (otherEdges.find(e)!=otherEdges.end())
s->_lowLevelEdges.insert(e);
}
}
//cerr << endl;
// relax the backbone and optimize it all
// cerr << "relax bbone" << endl;
s->optimizer()->setFixed(backboneVertices, false);
//cerr << "fox gauge bbone" << endl;
s->optimizer()->setFixed(s->gauge(),true);
//cerr << "opt init" << endl;
s->optimizer()->initializeOptimization(s->_lowLevelEdges);
optimizer->computeActiveErrors();
double initialChi = optimizer->activeChi2();
int starOptResult = s->optimizer()->optimize(starIterations);
//cerr << starOptResult << "(" << starIterations << ") " << endl;
double finalchi=-1.;
cerr << "computing star: " << starNum << endl;
int vKept=0, vDropped=0;
if (!starIterations || starOptResult > 0 ){
optimizer->computeActiveErrors();
finalchi = optimizer->activeChi2();
#if 1
s->optimizer()->computeActiveErrors();
// cerr << "system" << endl;
if (solverWithHessian)
solverWithHessian->updateLinearSystem();
HyperGraph::EdgeSet prunedStarEdges = backboneEdges;
HyperGraph::VertexSet prunedStarVertices = backboneVertices;
for (HyperGraph::VertexSet::iterator vit=otherVertices.begin(); vit!=otherVertices.end(); vit++){
//discard the vertices whose error is too big
OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)(*vit);
MatrixXd h(v->dimension(), v->dimension());
for (int i=0; i<v->dimension(); i++){
for (int j=0; j<v->dimension(); j++)
h(i,j)=v->hessian(i,j);
}
EigenSolver<Eigen::MatrixXd> esolver;
esolver.compute(h);
VectorXcd ev= esolver.eigenvalues();
double emin = std::numeric_limits<double>::max();
double emax = -std::numeric_limits<double>::max();
for (int i=0; i<ev.size(); i++){
emin = ev(i).real()>emin ? emin : ev(i).real();
emax = ev(i).real()<emax ? emax : ev(i).real();
}
double d=emin/emax;
// cerr << " " << d;
if (d>rejectionThreshold){
// if a solution is found, add a vertex and all the edges in
//othervertices that are pointing to that edge to the star
prunedStarVertices.insert(v);
for (HyperGraph::EdgeSet::iterator eit=v->edges().begin(); eit!=v->edges().end(); eit++){
OptimizableGraph::Edge* e = (OptimizableGraph::Edge*) *eit;
if (otherEdges.find(e)!=otherEdges.end())
prunedStarEdges.insert(e);
}
//cerr << "K( " << v->id() << "," << d << ")" ;
vKept ++;
} else {
vDropped++;
//cerr << "R( " << v->id() << "," << d << ")" ;
}
}
s->_lowLevelEdges=prunedStarEdges;
s->_lowLevelVertices=prunedStarVertices;
#endif
//cerr << "addHedges" << endl;
//now add to the star the hierarchical edges
std::vector<OptimizableGraph::Vertex*> vertices(2);
vertices[0]= (OptimizableGraph::Vertex*) *s->_gauge.begin();
for (HyperGraph::VertexSet::iterator vit=s->_lowLevelVertices.begin(); vit!=s->_lowLevelVertices.end(); vit++){
OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)*vit;
vertices[1]=v;
if (v==vertices[0])
continue;
OptimizableGraph::Edge* e=creator->createEdge(vertices);
//rr << "creating edge" << e << Factory::instance()->tag(vertices[0]) << "->" << Factory::instance()->tag(v) <endl;
if (e) {
e->setLevel(level+1);
optimizer->addEdge(e);
s->_starEdges.insert(e);
} else {
cerr << "HERE" << endl;
cerr << "FATAL, cannot create edge" << endl;
}
}
}
cerr << " gauge: " << (*s->_gauge.begin())->id()
<< " kept: " << vKept
<< " dropped: " << vDropped
<< " edges:" << s->_lowLevelEdges.size()
<< " hedges" << s->_starEdges.size()
<< " initial chi " << initialChi
<< " final chi " << finalchi << endl;
if (debug) {
char starLowName[100];
sprintf(starLowName, "star-%04d-low.g2o", starNum);
ofstream starLowStream(starLowName);
optimizer->saveSubset(starLowStream, s->_lowLevelEdges);
}
bool labelOk=false;
if (!starIterations || starOptResult > 0)
labelOk = s->labelStarEdges(0, labeler);
if (labelOk) {
if (debug) {
char starHighName[100];
sprintf(starHighName, "star-%04d-high.g2o", starNum);
ofstream starHighStream(starHighName);
optimizer->saveSubset(starHighStream, s->_starEdges);
}
} else {
cerr << "FAILURE: " << starOptResult << endl;
}
starNum++;
//label each hierarchical edge
s->optimizer()->pop(otherVertices);
s->optimizer()->pop(backboneVertices);
s->optimizer()->setFixed(s->gauge(),false);
}
StarSet stars2;
// now erase the stars that have 0 edges. They r useless
for (StarSet::iterator it=stars.begin(); it!=stars.end(); it++){
Star* s=*it;
if (s->lowLevelEdges().size()==0) {
delete s;
} else
stars2.insert(s);
}
stars=stars2;
}
void assignHierarchicalEdges(StarSet& stars, EdgeStarMap& esmap, EdgeLabeler* labeler, EdgeCreator* creator, SparseOptimizer* optimizer, int minNumEdges, int maxIterations){
// now construct the hierarchical edges for all the stars
int starNum=0;
for (StarSet::iterator it=stars.begin(); it!=stars.end(); it++){
cerr << "STAR# " << starNum << endl;
Star* s=*it;
std::vector<OptimizableGraph::Vertex*> vertices(2);
vertices[0]= (OptimizableGraph::Vertex*) *s->_gauge.begin();
cerr << "eIs" << endl;
HyperGraph::VertexSet vNew =s->lowLevelVertices();
for (HyperGraph::VertexSet::iterator vit=s->_lowLevelVertices.begin(); vit!=s->_lowLevelVertices.end(); vit++){
OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)*vit;
vertices[1]=v;
if (v==vertices[0])
continue;
HyperGraph::EdgeSet eInSt;
int numEdges = vertexEdgesInStar(eInSt, v, s, esmap);
if (Factory::instance()->tag(v)==Factory::instance()->tag(vertices[0]) || numEdges>minNumEdges) {
OptimizableGraph::Edge* e=creator->createEdge(vertices);
//cerr << "creating edge" << e << endl;
if (e) {
e->setLevel(1);
optimizer->addEdge(e);
s->_starEdges.insert(e);
} else {
cerr << "THERE" << endl;
cerr << "FATAL, cannot create edge" << endl;
}
} else {
vNew.erase(v);
// cerr << numEdges << " ";
// cerr << "r " << v-> id() << endl;
// remove from the star all edges that are not sufficiently connected
for (HyperGraph::EdgeSet::iterator it=eInSt.begin(); it!=eInSt.end(); it++){
HyperGraph::Edge* e=*it;
s->lowLevelEdges().erase(e);
}
}
}
s->lowLevelVertices()=vNew;
//cerr << endl;
cerr << "gauge: " << (*s->_gauge.begin())->id()
<< " edges:" << s->_lowLevelEdges.size()
<< " hedges" << s->_starEdges.size() << endl;
const bool debug = false;
if (debug){
char starLowName[100];
sprintf(starLowName, "star-%04d-low.g2o", starNum);
ofstream starLowStream(starLowName);
optimizer->saveSubset(starLowStream, s->_lowLevelEdges);
}
bool labelOk=s->labelStarEdges(maxIterations, labeler);
if (labelOk) {
if (debug) {
char starHighName[100];
sprintf(starHighName, "star-%04d-high.g2o", starNum);
ofstream starHighStream(starHighName);
optimizer->saveSubset(starHighStream, s->_starEdges);
}
} else {
cerr << "FAILURE" << endl;
}
starNum++;
}
}