g2o::BackBoneTreeAction Struct Reference

#include <backbone_tree_action.h>

Inheritance diagram for g2o::BackBoneTreeAction:

Collaboration diagram for g2o::BackBoneTreeAction:

Public Member Functions
	BackBoneTreeAction (SparseOptimizer *optimizer, std::string vertexTag, int level, int step)
void	init ()
	initializes the visit and clears the internal structures More...
VertexStarMap &	vertexStarMap ()
	map vertex->star. Contains the most recent vertex assignment More...
VertexStarMultimap &	vertexStarMultiMap ()
	multimap vertex->star. Contains all the vertex assignments to all stars More...
HyperGraph::EdgeSet &	freeEdges ()
	edges that are not yet assigned to any star More...
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e, double distance)
Public Member Functions inherited from g2o::HyperDijkstra::TreeAction
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e)

Protected Member Functions
void	addToMap (Star *s, HyperGraph::Vertex *v)
Star *	getStar (HyperGraph::Vertex *v)
bool	fillStar (Star *s, HyperGraph::Edge *e_)
	helper function that adds to a star an edge and all its vertices More...

Protected Attributes
SparseOptimizer *	_optimizer
std::string	_vertexTag
int	_level
int	_step
VertexStarMap	_vsMap
VertexStarMultimap	_vsMmap
HyperGraph::EdgeSet	_freeEdges
Factory *	_factory

Detailed Description

Dijkstra traversal action that constructs a backbone skeleton on the graph. It assumes that the traversal contains only edges and vertices belonging to classes that can be used to construct a backbone. After a visit is invoked, it returns vector of stars to which the backbone nodes have been assigned

Definition at line 20 of file backbone_tree_action.h.

Constructor & Destructor Documentation

g2o::BackBoneTreeAction::BackBoneTreeAction	(	SparseOptimizer *	optimizer,
		std::string	vertexTag,
		int	level,
		int	step
	)

creates a tree action for constructing the backbone

Parameters

optimizer	the optimizer on which the stars are constructed
vertexTag	the tag of the vertices to use as backbone nodes
level	the level of the lowLevelEdges of the stars in the backbone
step	depth in tree after which a new star is initialized

Definition at line 9 of file backbone_tree_action.cpp.

References _factory, init(), and g2o::Factory::instance().

                                                                                                            :
    _optimizer(optimizer),
    _vertexTag(vertexTag),
    _level(level),
    _step(step) {
    _factory=Factory::instance();
    init();
  }

Member Function Documentation

void g2o::BackBoneTreeAction::addToMap ( Star *  s, HyperGraph::Vertex *  v  )

protected

helper function for adding a vertex to a star. If the vertex is already in _vertexToEdgeMap it replaces the associated star. _vertexStarMultimap is only augmented, thus it contains all associations

Parameters

s	the star
v	the vertex

Definition at line 56 of file backbone_tree_action.cpp.

References g2o::Star::_lowLevelVertices, _vsMap, and _vsMmap.

Referenced by freeEdges(), and perform().

                                                                 {
    OptimizableGraph::Vertex* v= (OptimizableGraph::Vertex*)v_;
    VertexStarMap::iterator it=_vsMap.find(v);
    if (it!=_vsMap.end())
      it->second = s;
    else
      _vsMap.insert(make_pair(v,s));
    _vsMmap.insert(make_pair(v,s));
    s->_lowLevelVertices.insert(v);
  }

bool g2o::BackBoneTreeAction::fillStar ( Star *  s, HyperGraph::Edge *  e_  )

protected

helper function that adds to a star an edge and all its vertices

Definition at line 75 of file backbone_tree_action.cpp.

References _freeEdges, g2o::Star::_lowLevelEdges, g2o::Star::_lowLevelVertices, and g2o::HyperGraph::Edge::vertices().

Referenced by freeEdges(), and perform().

                                                              {
    OptimizableGraph::Edge* e = (OptimizableGraph::Edge*) e_;
    HyperGraph::EdgeSet::iterator it=_freeEdges.find(e);
    if (it!=_freeEdges.end()) {
      _freeEdges.erase(it);
      s->_lowLevelEdges.insert(e);
      for (size_t i=0; i<e->vertices().size(); i++){
  s->_lowLevelVertices.insert(e->vertices()[i]);
      }
      return true;
    }
    return false;
  }

HyperGraph::EdgeSet& g2o::BackBoneTreeAction::freeEdges ( )

inline

edges that are not yet assigned to any star

Definition at line 38 of file backbone_tree_action.h.

References _freeEdges, addToMap(), fillStar(), getStar(), and perform().

{return _freeEdges;}

Star * g2o::BackBoneTreeAction::getStar ( HyperGraph::Vertex *  v )

protected

helper function to retrieve the most recent star of a vertex.

Parameters

v	the vertex

Definition at line 67 of file backbone_tree_action.cpp.

References _vsMap.

Referenced by freeEdges(), and perform().

                                                       {
    OptimizableGraph::Vertex* v= (OptimizableGraph::Vertex*)v_;
    VertexStarMap::iterator it=_vsMap.find(v);
    if (it==_vsMap.end())
      return 0;
    return it->second;
  }

void g2o::BackBoneTreeAction::init

(

)

initializes the visit and clears the internal structures

Definition at line 18 of file backbone_tree_action.cpp.

References _freeEdges, _level, _optimizer, _vsMap, _vsMmap, g2o::HyperGraph::edges(), and g2o::OptimizableGraph::Edge::level().

Referenced by BackBoneTreeAction().

                               {
    _vsMap.clear();
    _vsMmap.clear();
    _freeEdges.clear();
    for (HyperGraph::EdgeSet::iterator it=_optimizer->edges().begin(); it!=_optimizer->edges().end(); it++){
      OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)(*it);
      if (e->level()==_level) {
  _freeEdges.insert(e);
      }
    }
  }

double g2o::BackBoneTreeAction::perform ( HyperGraph::Vertex *  v, HyperGraph::Vertex *  vParent, HyperGraph::Edge *  e, double  distance  )

virtual

action to be performed during the descent of the dijkstra tree. it constructs stars according to the dijkstra tree A new star is created every time the depth increases of _step.

Parameters

v	the vertex
vParent	the parent vertex
e	the edge between v and its parent
distance	the depth in the tree

Reimplemented from g2o::HyperDijkstra::TreeAction.

Definition at line 30 of file backbone_tree_action.cpp.

References _factory, g2o::Star::_gauge, _level, _optimizer, _step, _vertexTag, addToMap(), fillStar(), getStar(), and g2o::Factory::tag().

Referenced by freeEdges().

                             {
    int depth=(int) distance;
    if (_factory->tag(v)!= _vertexTag)
      return 0;
    Star* parentStar=getStar(vParent);
    if (! parentStar){
      parentStar=new Star(_level+1,_optimizer);
      addToMap(parentStar, vParent);
      parentStar->_gauge.insert(vParent);
    }
    addToMap(parentStar,v);
    fillStar(parentStar, e);

    // every _step levels you go down in the tree, create a new star
    if (depth && ! (depth%_step )){
      Star* star=new Star(_level+1, _optimizer);
      addToMap(star,v);
      star->_gauge.insert(v);
    }
    return 1;
  }

VertexStarMap& g2o::BackBoneTreeAction::vertexStarMap ( )

inline

map vertex->star. Contains the most recent vertex assignment

Definition at line 34 of file backbone_tree_action.h.

References _vsMap.

{return _vsMap;}

VertexStarMultimap& g2o::BackBoneTreeAction::vertexStarMultiMap ( )

inline

multimap vertex->star. Contains all the vertex assignments to all stars

Definition at line 36 of file backbone_tree_action.h.

References _vsMmap.

{return _vsMmap;}

Member Data Documentation

Factory* g2o::BackBoneTreeAction::_factory

protected

Definition at line 78 of file backbone_tree_action.h.

Referenced by BackBoneTreeAction(), and perform().

HyperGraph::EdgeSet g2o::BackBoneTreeAction::_freeEdges

protected

Definition at line 77 of file backbone_tree_action.h.

Referenced by fillStar(), freeEdges(), and init().

int g2o::BackBoneTreeAction::_level

protected

Definition at line 72 of file backbone_tree_action.h.

Referenced by init(), and perform().

SparseOptimizer* g2o::BackBoneTreeAction::_optimizer

protected

Definition at line 70 of file backbone_tree_action.h.

Referenced by init(), and perform().

int g2o::BackBoneTreeAction::_step

protected

Definition at line 73 of file backbone_tree_action.h.

Referenced by perform().

std::string g2o::BackBoneTreeAction::_vertexTag

protected

Definition at line 71 of file backbone_tree_action.h.

Referenced by perform().

VertexStarMap g2o::BackBoneTreeAction::_vsMap

protected

Definition at line 75 of file backbone_tree_action.h.

Referenced by addToMap(), getStar(), init(), and vertexStarMap().

VertexStarMultimap g2o::BackBoneTreeAction::_vsMmap

protected

Definition at line 76 of file backbone_tree_action.h.

Referenced by addToMap(), init(), and vertexStarMultiMap().

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The documentation for this struct was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/backbone_tree_action.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/backbone_tree_action.cpp