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added graph connectivity check after edges filtering #1

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added graph connectivity check after edges filtering #1

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30 changes: 27 additions & 3 deletions vican/bipgo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
import time
import numpy as np

from scipy.sparse import csr_matrix, diags
from scipy.sparse import csr_matrix, diags, csgraph
from scipy.sparse.linalg import eigs, lsqr, cg

from typing import Callable
Expand Down Expand Up @@ -222,6 +222,30 @@ def large_bipartite_so3sync(src_edges: dict,

print("({:.3f}s).".format(time.time()-start))

nodes = np.unique([n for e in edges.keys() for n in e])
nodes2idx = {n : i for i, n in enumerate(nodes)}
graph = np.zeros((len(nodes), len(nodes)), dtype=np.int32)
for (c, t) in edges.keys():
graph[nodes2idx[c], nodes2idx[t]] += 1
graph[nodes2idx[t], nodes2idx[c]] += 1

print(f"Separated components: {csgraph.connected_components(graph, directed=False)[0]}")
to_filter = np.where(csgraph.connected_components(graph, directed=False)[1] != 0)[0]
to_filter = [nodes[i] for i in to_filter]
print(f"Filtering {len(to_filter)} nodes: {to_filter}")

for n in to_filter:
for (c, t) in list(edges.keys()):
if c == n or t == n:
del edges[c,t]

new_src_edges = {}
for e, v in list(src_edges.items()):
cam = 'c' + e[0]
timestep = 't' + e[1].split('_')[0]
if cam not in to_filter and timestep not in to_filter:
new_src_edges[e] = v

nodes = np.unique([n for e in edges.keys() for n in e])
cam_nodes = [n for n in nodes if n[0] == 'c']
time_nodes = [n for n in nodes if n[0] == 't']
Expand Down Expand Up @@ -347,7 +371,7 @@ def large_bipartite_so3sync(src_edges: dict,
for t, i in time_node2idx.items():
out[t[1:] + '_0'] = r_t[i*3:i*3+3,:].T

return out
return out, new_src_edges


def bipartite_se3sync(src_edges: dict,
Expand Down Expand Up @@ -410,7 +434,7 @@ def bipartite_se3sync(src_edges: dict,
"""
root = str(min(list(constraints.keys())))

r_est = large_bipartite_so3sync(src_edges,
r_est, src_edges = large_bipartite_so3sync(src_edges,
constraints,
noise_model_r,
edge_filter,
Expand Down