226 lines
7.1 KiB
C++
226 lines
7.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_GRAPH_H_
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#define CERES_INTERNAL_GRAPH_H_
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#include <limits>
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#include <utility>
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#include "ceres/integral_types.h"
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#include "ceres/map_util.h"
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#include "ceres/collections_port.h"
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#include "ceres/internal/macros.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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namespace ceres {
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namespace internal {
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// A unweighted undirected graph templated over the vertex ids. Vertex
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// should be hashable.
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template <typename Vertex>
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class Graph {
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public:
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Graph() {}
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// Add a vertex.
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void AddVertex(const Vertex& vertex) {
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if (vertices_.insert(vertex).second) {
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edges_[vertex] = HashSet<Vertex>();
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}
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}
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bool RemoveVertex(const Vertex& vertex) {
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if (vertices_.find(vertex) == vertices_.end()) {
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return false;
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}
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vertices_.erase(vertex);
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const HashSet<Vertex>& sinks = edges_[vertex];
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for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
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it != sinks.end(); ++it) {
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edges_[*it].erase(vertex);
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}
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edges_.erase(vertex);
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return true;
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}
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// Add an edge between the vertex1 and vertex2. Calling AddEdge on a
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// pair of vertices which do not exist in the graph yet will result
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// in undefined behavior.
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//
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// It is legal to call this method repeatedly for the same set of
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// vertices.
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void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
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DCHECK(vertices_.find(vertex1) != vertices_.end());
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DCHECK(vertices_.find(vertex2) != vertices_.end());
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if (edges_[vertex1].insert(vertex2).second) {
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edges_[vertex2].insert(vertex1);
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}
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}
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// Calling Neighbors on a vertex not in the graph will result in
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// undefined behaviour.
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const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
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return FindOrDie(edges_, vertex);
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}
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const HashSet<Vertex>& vertices() const {
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return vertices_;
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}
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private:
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HashSet<Vertex> vertices_;
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HashMap<Vertex, HashSet<Vertex> > edges_;
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CERES_DISALLOW_COPY_AND_ASSIGN(Graph);
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};
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// A weighted undirected graph templated over the vertex ids. Vertex
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// should be hashable and comparable.
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template <typename Vertex>
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class WeightedGraph {
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public:
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WeightedGraph() {}
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// Add a weighted vertex. If the vertex already exists in the graph,
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// its weight is set to the new weight.
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void AddVertex(const Vertex& vertex, double weight) {
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if (vertices_.find(vertex) == vertices_.end()) {
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vertices_.insert(vertex);
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edges_[vertex] = HashSet<Vertex>();
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}
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vertex_weights_[vertex] = weight;
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}
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// Uses weight = 1.0. If vertex already exists, its weight is set to
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// 1.0.
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void AddVertex(const Vertex& vertex) {
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AddVertex(vertex, 1.0);
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}
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bool RemoveVertex(const Vertex& vertex) {
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if (vertices_.find(vertex) == vertices_.end()) {
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return false;
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}
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vertices_.erase(vertex);
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vertex_weights_.erase(vertex);
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const HashSet<Vertex>& sinks = edges_[vertex];
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for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
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it != sinks.end(); ++it) {
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if (vertex < *it) {
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edge_weights_.erase(std::make_pair(vertex, *it));
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} else {
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edge_weights_.erase(std::make_pair(*it, vertex));
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}
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edges_[*it].erase(vertex);
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}
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edges_.erase(vertex);
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return true;
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}
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// Add a weighted edge between the vertex1 and vertex2. Calling
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// AddEdge on a pair of vertices which do not exist in the graph yet
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// will result in undefined behavior.
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//
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// It is legal to call this method repeatedly for the same set of
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// vertices.
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void AddEdge(const Vertex& vertex1, const Vertex& vertex2, double weight) {
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DCHECK(vertices_.find(vertex1) != vertices_.end());
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DCHECK(vertices_.find(vertex2) != vertices_.end());
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if (edges_[vertex1].insert(vertex2).second) {
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edges_[vertex2].insert(vertex1);
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}
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if (vertex1 < vertex2) {
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edge_weights_[std::make_pair(vertex1, vertex2)] = weight;
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} else {
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edge_weights_[std::make_pair(vertex2, vertex1)] = weight;
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}
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}
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// Uses weight = 1.0.
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void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
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AddEdge(vertex1, vertex2, 1.0);
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}
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// Calling VertexWeight on a vertex not in the graph will result in
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// undefined behavior.
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double VertexWeight(const Vertex& vertex) const {
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return FindOrDie(vertex_weights_, vertex);
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}
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// Calling EdgeWeight on a pair of vertices where either one of the
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// vertices is not present in the graph will result in undefined
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// behaviour. If there is no edge connecting vertex1 and vertex2,
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// the edge weight is zero.
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double EdgeWeight(const Vertex& vertex1, const Vertex& vertex2) const {
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if (vertex1 < vertex2) {
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return FindWithDefault(edge_weights_,
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std::make_pair(vertex1, vertex2), 0.0);
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} else {
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return FindWithDefault(edge_weights_,
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std::make_pair(vertex2, vertex1), 0.0);
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}
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}
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// Calling Neighbors on a vertex not in the graph will result in
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// undefined behaviour.
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const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
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return FindOrDie(edges_, vertex);
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}
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const HashSet<Vertex>& vertices() const {
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return vertices_;
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}
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static double InvalidWeight() {
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return std::numeric_limits<double>::quiet_NaN();
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}
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private:
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HashSet<Vertex> vertices_;
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HashMap<Vertex, double> vertex_weights_;
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HashMap<Vertex, HashSet<Vertex> > edges_;
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HashMap<std::pair<Vertex, Vertex>, double> edge_weights_;
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CERES_DISALLOW_COPY_AND_ASSIGN(WeightedGraph);
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_GRAPH_H_
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