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mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t > Class Template Reference

Detailed Description

template<class GRAPH_MATRIX, typename num_t = typename GRAPH_MATRIX::Scalar>
class mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >

Algorithms for finding the min-normalized-cut of a weighted undirected graph.

Two methods are provided, one for bisection and the other for iterative N-parts partition. It is an implementation of the Shi-Malik method proposed in:

J. Shi and J. Malik, "Normalized Cuts and Image Segmentation,"IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.22, no.8, pp. 888-905, Aug. 2000.

Template Parameters
GRAPH_MATRIXThe type of square matrices used to represent the connectivity in a graph (e.g. mrpt::math::CMatrix)
num_tThe type of matrix elements, thresholds, etc. (typ: float or double). Defaults to the type of matrix elements.
Note
Prior to MRPT 1.0.0 this class wasn't a template and provided static variables for debugging, which were removed since that version.

Definition at line 41 of file CGraphPartitioner.h.

#include <mrpt/graphs/CGraphPartitioner.h>

Inheritance diagram for mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >:
Inheritance graph

Static Public Member Functions

static void RecursiveSpectralPartition (GRAPH_MATRIX &in_A, std::vector< std::vector< uint32_t >> &out_parts, num_t threshold_Ncut=1, bool forceSimetry=true, bool useSpectralBisection=true, bool recursive=true, unsigned minSizeClusters=1, const bool verbose=false)
 Performs the spectral recursive partition into K-parts for a given graph. More...
 
static void SpectralBisection (GRAPH_MATRIX &in_A, std::vector< uint32_t > &out_part1, std::vector< uint32_t > &out_part2, num_t &out_cut_value, bool forceSimetry=true)
 Performs the spectral bisection of a graph. More...
 
static void exactBisection (GRAPH_MATRIX &in_A, std::vector< uint32_t > &out_part1, std::vector< uint32_t > &out_part2, num_t &out_cut_value, bool forceSimetry=true)
 Performs an EXACT minimum n-Cut graph bisection, (Use CGraphPartitioner::SpectralBisection for a faster algorithm) More...
 
static num_t nCut (const GRAPH_MATRIX &in_A, const std::vector< uint32_t > &in_part1, const std::vector< uint32_t > &in_part2)
 Returns the normaliced cut of a graph, given its adjacency matrix A and a bisection: More...
 

Static Public Attributes

static mrpt::system::TConsoleColor logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::string logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

bool logging_enable_console_output
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, const std::string &msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=NULL) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 179 of file COutputLogger.cpp.

◆ exactBisection()

template<class GRAPH_MATRIX , typename num_t >
void mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::exactBisection ( GRAPH_MATRIX &  in_A,
std::vector< uint32_t > &  out_part1,
std::vector< uint32_t > &  out_part2,
num_t &  out_cut_value,
bool  forceSimetry = true 
)
static

Performs an EXACT minimum n-Cut graph bisection, (Use CGraphPartitioner::SpectralBisection for a faster algorithm)

Parameters
in_A[IN] The weights matrix for the graph. It must be a square matrix, where element Wij is the "likelihood" between nodes "i" and "j", and typically Wii = 1.
out_part1[OUT] The indexs of the nodes that fall into the first group.
out_part2[OUT] The indexs of the nodes that fall into the second group.
out_cut_value[OUT] The N-cut value for the proposed cut, in the range [0-2].
forceSimetry[IN] If set to true (default) the elements Wij and Wji are replaced by 0.5*(Wij+Wji). Set to false if matrix is known to be simetric.
See also
mrpt::math::CMatrix, RecursiveSpectralPartition
Exceptions
Throwsa std::logic_error if an invalid matrix is passed.

Definition at line 262 of file CGraphPartitioner_impl.h.

References ASSERT_, and THROW_EXCEPTION.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 143 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 132 of file COutputLogger.cpp.

Referenced by mrpt::system::COutputLogger::TMsg::TMsg().

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 120 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 287 of file COutputLogger.cpp.

References getAddress().

◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 274 of file COutputLogger.cpp.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
const std::string msg_str 
) const
inherited

◆ nCut()

template<class GRAPH_MATRIX , typename num_t >
num_t mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::nCut ( const GRAPH_MATRIX &  in_A,
const std::vector< uint32_t > &  in_part1,
const std::vector< uint32_t > &  in_part2 
)
static

Returns the normaliced cut of a graph, given its adjacency matrix A and a bisection:

Definition at line 225 of file CGraphPartitioner_impl.h.

◆ RecursiveSpectralPartition()

template<class GRAPH_MATRIX , typename num_t >
void mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::RecursiveSpectralPartition ( GRAPH_MATRIX &  in_A,
std::vector< std::vector< uint32_t >> &  out_parts,
num_t  threshold_Ncut = 1,
bool  forceSimetry = true,
bool  useSpectralBisection = true,
bool  recursive = true,
unsigned  minSizeClusters = 1,
const bool  verbose = false 
)
static

Performs the spectral recursive partition into K-parts for a given graph.

The default threshold for the N-cut is 1, which correspond to a cut equal of the geometric mean of self-associations of each pair of groups.

Parameters
in_A[IN] The weights matrix for the graph. It must be a square matrix, where element Wij is the "likelihood" between nodes "i" and "j", and typically Wii = 1.
out_parts[OUT] An array of partitions, where each partition is represented as a vector of indexs for nodes.
threshold_Ncut[IN] If it is desired to use other than the default threshold, it can be passed here.
forceSimetry[IN] If set to true (default) the elements Wij and Wji are replaced by 0.5*(Wij+Wji). Set to false if matrix is known to be simetric.
useSpectralBisection[IN] If set to true (default) a quick spectral bisection will be used. If set to false, a brute force, exact finding of the min-cut is performed.
recursive[IN] Default=true, recursive algorithm for finding N partitions. Set to false to force 1 bisection as maximum.
minSizeClusters[IN] Default=1, Minimum size of partitions to be accepted.
See also
mrpt::math::CMatrix, SpectralBisection
Exceptions
Throwsa std::logic_error if an invalid matrix is passed.

Definition at line 98 of file CGraphPartitioner_impl.h.

References mrpt::format(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::pbmap::SemanticClustering::evalPartition().

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 133 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ SpectralBisection()

template<class GRAPH_MATRIX , typename num_t >
void mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::SpectralBisection ( GRAPH_MATRIX &  in_A,
std::vector< uint32_t > &  out_part1,
std::vector< uint32_t > &  out_part2,
num_t &  out_cut_value,
bool  forceSimetry = true 
)
static

Performs the spectral bisection of a graph.

This method always perform the bisection, and a measure of the goodness for this cut is returned.

Parameters
in_A[IN] The weights matrix for the graph. It must be a square matrix, where element Wij is the "likelihood" between nodes "i" and "j", and typically Wii = 1.
out_part1[OUT] The indexs of the nodes that fall into the first group.
out_part2[OUT] The indexs of the nodes that fall into the second group.
out_cut_value[OUT] The N-cut value for the proposed cut, in the range [0-2].
forceSimetry[IN] If set to true (default) the elements Wij and Wji are replaced by 0.5*(Wij+Wji). Set to false if matrix is known to be simetric.
See also
mrpt::math::CMatrix, RecursiveSpectralPartition
Exceptions
Throwsa std::logic_error if an invalid matrix is passed.

Definition at line 22 of file CGraphPartitioner_impl.h.

References eigenValues(), eigenVectors(), mean(), and THROW_EXCEPTION.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = NULL) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors
staticinherited
Initial value:

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Implementation file for the COutputLogger header class.

Handy for coloring the input based on the verbosity of the message

Definition at line 124 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names
staticinherited
Initial value:
=
{
"DEBUG",
"INFO ",
"WARN ",
"ERROR"
}

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 129 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().




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