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<div class="title">CGraphPartitioner.h</div> </div>
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<a href="_c_graph_partitioner_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CGRAPHPARTITIONER_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CGRAPHPARTITIONER_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="ops__matrices_8h.html" title="This file implements miscelaneous matrix and matrix/vector operations, plus internal functions in mrp...">mrpt/math/ops_matrices.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="graphs_2include_2mrpt_2graphs_2link__pragmas_8h.html">mrpt/graphs/link_pragmas.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** Abstract graph and tree data structures, plus generic graph algorithms</span>
<a name="l00041"></a>00041 <span class="comment"> * \ingroup mrpt_graphs_grp</span>
<a name="l00042"></a>00042 <span class="comment"> */</span>
<a name="l00043"></a>00043 <span class="keyword">namespace </span>graphs
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** Algorithms for finding the min-normalized-cut of a weighted undirected graph.</span>
<a name="l00048"></a>00048 <span class="comment"> * Two static methods are provided, one for bisection and the other for</span>
<a name="l00049"></a>00049 <span class="comment"> * iterative N-parts partition.</span>
<a name="l00050"></a>00050 <span class="comment"> * It is based on the Shi-Malik method, proposed for example in:<br><br></span>
<a name="l00051"></a>00051 <span class="comment"> * <code>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.</code><br></span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 <span class="keyword">class </span><a class="code" href="graphs_2include_2mrpt_2graphs_2link__pragmas_8h.html#a3b882a8c668190aac3741eceef62ea38">GRAPHS_IMPEXP</a> CGraphPartitioner : <span class="keyword">public</span> mrpt::utils::CDebugOutputCapable
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Performs the spectral recursive partition into K-parts for a given graph.</span>
<a name="l00058"></a>00058 <span class="comment"> * The default threshold for the N-cut is 1, which correspond to a cut equal</span>
<a name="l00059"></a>00059 <span class="comment"> * of the geometric mean of self-associations of each pair of groups.</span>
<a name="l00060"></a>00060 <span class="comment"> *</span>
<a name="l00061"></a>00061 <span class="comment"> * \param in_A [IN] The weights matrix for the graph. It must be a square matrix, where element W<sub>ij</sub> is the "likelihood" between nodes "i" and "j", and typically W<sub>ii</sub> = 1.</span>
<a name="l00062"></a>00062 <span class="comment"> * \param out_parts [OUT] An array of partitions, where each partition is represented as a vector of indexs for nodes.</span>
<a name="l00063"></a>00063 <span class="comment"> * \param threshold_Ncut [IN] If it is desired to use other than the default threshold, it can be passed here.</span>
<a name="l00064"></a>00064 <span class="comment"> * \param forceSimetry [IN] If set to true (default) the elements W<sub>ij</sub> and W<sub>ji</sub> are replaced by 0.5·(W<sub>ij</sub>+W<sub>ji</sub>). Set to false if matrix is known to be simetric.</span>
<a name="l00065"></a>00065 <span class="comment"> * \param 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.</span>
<a name="l00066"></a>00066 <span class="comment"> * \param recursive [IN] Default=true, recursive algorithm for finding N partitions. Set to false to force 1 bisection as maximum.</span>
<a name="l00067"></a>00067 <span class="comment"> * \param minSizeClusters [IN] Default=1, Minimum size of partitions to be accepted.</span>
<a name="l00068"></a>00068 <span class="comment"> *</span>
<a name="l00069"></a>00069 <span class="comment"> * \sa CMatrix, SpectralBisection</span>
<a name="l00070"></a>00070 <span class="comment"> *</span>
<a name="l00071"></a>00071 <span class="comment"> * \exception Throws a std::logic_error if an invalid matrix is passed.</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="keyword">static</span> <span class="keywordtype">void</span> RecursiveSpectralPartition(
<a name="l00074"></a>00074 <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> &in_A,
<a name="l00075"></a>00075 <a class="code" href="classstd_1_1vector.html">std::vector<vector_uint></a> &out_parts,
<a name="l00076"></a>00076 <span class="keywordtype">float</span> threshold_Ncut = 1.0f,
<a name="l00077"></a>00077 <span class="keywordtype">bool</span> forceSimetry = <span class="keyword">true</span>,
<a name="l00078"></a>00078 <span class="keywordtype">bool</span> useSpectralBisection = <span class="keyword">true</span>,
<a name="l00079"></a>00079 <span class="keywordtype">bool</span> recursive = <span class="keyword">true</span>,
<a name="l00080"></a>00080 <span class="keywordtype">unsigned</span> minSizeClusters = 1);
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Performs the spectral bisection of a graph. This method always perform</span>
<a name="l00083"></a>00083 <span class="comment"> * the bisection, and a measure of the goodness for this cut is returned.</span>
<a name="l00084"></a>00084 <span class="comment"> *</span>
<a name="l00085"></a>00085 <span class="comment"> * \param in_A [IN] The weights matrix for the graph. It must be a square matrix, where element W<sub>ij</sub> is the "likelihood" between nodes "i" and "j", and typically W<sub>ii</sub> = 1.</span>
<a name="l00086"></a>00086 <span class="comment"> * \param out_part1 [OUT] The indexs of the nodes that fall into the first group.</span>
<a name="l00087"></a>00087 <span class="comment"> * \param out_part2 [OUT] The indexs of the nodes that fall into the second group.</span>
<a name="l00088"></a>00088 <span class="comment"> * \param out_cut_value [OUT] The N-cut value for the proposed cut, in the range [0-2].</span>
<a name="l00089"></a>00089 <span class="comment"> * \param forceSimetry [IN] If set to true (default) the elements W<sub>ij</sub> and W<sub>ji</sub> are replaced by 0.5·(W<sub>ij</sub>+W<sub>ji</sub>). Set to false if matrix is known to be simetric.</span>
<a name="l00090"></a>00090 <span class="comment"> *</span>
<a name="l00091"></a>00091 <span class="comment"> * \sa CMatrix, RecursiveSpectralPartition</span>
<a name="l00092"></a>00092 <span class="comment"> *</span>
<a name="l00093"></a>00093 <span class="comment"> * \exception Throws a std::logic_error if an invalid matrix is passed.</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keyword">static</span> <span class="keywordtype">void</span> SpectralBisection(
<a name="l00096"></a>00096 <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> &in_A,
<a name="l00097"></a>00097 <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &out_part1,
<a name="l00098"></a>00098 <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &out_part2,
<a name="l00099"></a>00099 <span class="keywordtype">float</span> &out_cut_value,
<a name="l00100"></a>00100 <span class="keywordtype">bool</span> forceSimetry = <span class="keyword">true</span> );
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Performs an EXACT minimum n-Cut graph bisection, (Use CGraphPartitioner::SpectralBisection for a faster algorithm)</span>
<a name="l00103"></a>00103 <span class="comment"> *</span>
<a name="l00104"></a>00104 <span class="comment"> * \param in_A [IN] The weights matrix for the graph. It must be a square matrix, where element W<sub>ij</sub> is the "likelihood" between nodes "i" and "j", and typically W<sub>ii</sub> = 1.</span>
<a name="l00105"></a>00105 <span class="comment"> * \param out_part1 [OUT] The indexs of the nodes that fall into the first group.</span>
<a name="l00106"></a>00106 <span class="comment"> * \param out_part2 [OUT] The indexs of the nodes that fall into the second group.</span>
<a name="l00107"></a>00107 <span class="comment"> * \param out_cut_value [OUT] The N-cut value for the proposed cut, in the range [0-2].</span>
<a name="l00108"></a>00108 <span class="comment"> * \param forceSimetry [IN] If set to true (default) the elements W<sub>ij</sub> and W<sub>ji</sub> are replaced by 0.5·(W<sub>ij</sub>+W<sub>ji</sub>). Set to false if matrix is known to be simetric.</span>
<a name="l00109"></a>00109 <span class="comment"> *</span>
<a name="l00110"></a>00110 <span class="comment"> * \sa CMatrix, RecursiveSpectralPartition</span>
<a name="l00111"></a>00111 <span class="comment"> *</span>
<a name="l00112"></a>00112 <span class="comment"> * \exception Throws a std::logic_error if an invalid matrix is passed.</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 <span class="keyword">static</span> <span class="keywordtype">void</span> exactBisection(
<a name="l00115"></a>00115 <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> &in_A,
<a name="l00116"></a>00116 <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &out_part1,
<a name="l00117"></a>00117 <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &out_part2,
<a name="l00118"></a>00118 <span class="keywordtype">float</span> &out_cut_value,
<a name="l00119"></a>00119 <span class="keywordtype">bool</span> forceSimetry = <span class="keyword">true</span> );
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** Returns the normaliced cut of a graph, given its adjacency matrix A and a bisection:</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <span class="keyword">static</span> <span class="keywordtype">float</span> nCut(
<a name="l00124"></a>00124 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> &in_A,
<a name="l00125"></a>00125 <span class="keyword">const</span> <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &in_part1,
<a name="l00126"></a>00126 <span class="keyword">const</span> <a class="code" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> &in_part2 );
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** If set to true (default=false), each eigenvector computed (and the laplacian of the adj. matrix) will be saved to files "DEBUG_GRAPHPART_eigvectors_xxx" and "DEBUG_GRAPHPART_laplacian_xxx", respectively.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#ad3c1e49fc3bf666ed5f1a3072a682fc5">00131</a> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#ad3c1e49fc3bf666ed5f1a3072a682fc5" title="If set to true (default=false), each eigenvector computed (and the laplacian of the adj...">DEBUG_SAVE_EIGENVECTOR_FILES</a>;
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** If set to true (default=false), debug info will be displayed to cout.</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a><a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#a5ec28a998a6d61dd7cecc9e516670537">00135</a> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#a5ec28a998a6d61dd7cecc9e516670537" title="If set to true (default=false), debug info will be displayed to cout.">VERBOSE</a>;
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Used internally when DEBUG_SAVE_EIGENVECTOR_FILES=true</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a><a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#a824d769d2eabe92dfde6211b29f2c711">00140</a> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1graphs_1_1_c_graph_partitioner.html#a824d769d2eabe92dfde6211b29f2c711" title="Used internally when DEBUG_SAVE_EIGENVECTOR_FILES=true.">debug_file_no</a>;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 }; <span class="comment">// End of class def.</span>
<a name="l00143"></a>00143
<a name="l00144"></a>00144 } <span class="comment">// End of namespace</span>
<a name="l00145"></a>00145 } <span class="comment">// End of namespace</span>
<a name="l00146"></a>00146 <span class="preprocessor">#endif</span>
</pre></div></div>
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