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Use KeyVector for proper wrapping with TBB #603

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Nov 16, 2020
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Use KeyVector for proper wrapping with TBB #603

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ac089ce
use KeyVector to allow proper wrapping with TBB
varunagrawal Nov 16, 2020
283582c
update MFAS tests
varunagrawal Nov 16, 2020
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6 changes: 3 additions & 3 deletions gtsam/sfm/MFAS.cpp
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Expand Up @@ -121,8 +121,8 @@ MFAS::MFAS(const TranslationEdges& relativeTranslations,
}
}

vector<Key> MFAS::computeOrdering() const {
vector<Key> ordering; // Nodes in MFAS order (result).
KeyVector MFAS::computeOrdering() const {
KeyVector ordering; // Nodes in MFAS order (result).

// A graph is an unordered map from keys to nodes. Each node contains a list
// of its adjacent nodes. Create the graph from the edgeWeights.
Expand All @@ -140,7 +140,7 @@ vector<Key> MFAS::computeOrdering() const {

map<MFAS::KeyPair, double> MFAS::computeOutlierWeights() const {
// Find the ordering.
vector<Key> ordering = computeOrdering();
KeyVector ordering = computeOrdering();

// Create a map from the node key to its position in the ordering. This makes
// it easier to lookup positions of different nodes.
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2 changes: 1 addition & 1 deletion gtsam/sfm/MFAS.h
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Expand Up @@ -84,7 +84,7 @@ class MFAS {
* @brief Computes the 1D MFAS ordering of nodes in the graph
* @return orderedNodes: vector of nodes in the obtained order
*/
std::vector<Key> computeOrdering() const;
KeyVector computeOrdering() const;

/**
* @brief Computes the outlier weights of the graph. We define the outlier
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10 changes: 5 additions & 5 deletions gtsam/sfm/tests/testMFAS.cpp
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Expand Up @@ -25,7 +25,7 @@ using namespace gtsam;
vector<MFAS::KeyPair> edges = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1),
make_pair(1, 2), make_pair(0, 2), make_pair(3, 0)};
// nodes in the graph
vector<Key> nodes = {Key(0), Key(1), Key(2), Key(3)};
KeyVector nodes = {Key(0), Key(1), Key(2), Key(3)};
// weights from projecting in direction-1 (bad direction, outlier accepted)
vector<double> weights1 = {2, 1.5, 0.5, 0.25, 1, 0.75};
// weights from projecting in direction-2 (good direction, outlier rejected)
Expand All @@ -47,10 +47,10 @@ map<MFAS::KeyPair, double> getEdgeWeights(const vector<MFAS::KeyPair> &edges,
TEST(MFAS, OrderingWeights2) {
MFAS mfas_obj(getEdgeWeights(edges, weights2));

vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();

// ground truth (expected) ordering in this example
vector<Key> gt_ordered_nodes = {0, 1, 3, 2};
KeyVector gt_ordered_nodes = {0, 1, 3, 2};

// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {
Expand All @@ -77,10 +77,10 @@ TEST(MFAS, OrderingWeights2) {
TEST(MFAS, OrderingWeights1) {
MFAS mfas_obj(getEdgeWeights(edges, weights1));

vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();

// "ground truth" expected ordering in this example
vector<Key> gt_ordered_nodes = {3, 0, 1, 2};
KeyVector gt_ordered_nodes = {3, 0, 1, 2};

// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {
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