Skip to content

Updated Clustering Implementation (v2.x) #11

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
sglvladi merged 1 commit into from
Dec 8, 2024
Merged

Updated Clustering Implementation (v2.x) #11

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
172 changes: 79 additions & 93 deletions src/utils/Utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,33 +5,20 @@ namespace ehm
namespace utils
{

void dfs(int vertex, const std::vector<std::vector<int>>& graph, std::vector<bool>& visited, std::vector<int>& component)
Eigen::MatrixXi getNumIntersectsTable(std::vector<std::pair<std::vector<int>, std::set<int>>> clusters)
{
visited[vertex] = true; // mark vertex as visited
component.push_back(vertex); // add vertex to current component

// visit all neighbors of vertex that haven't been visited yet
for (int neighbor = 0; neighbor < graph.size(); ++neighbor) {
if (graph[vertex][neighbor] && !visited[neighbor]) {
dfs(neighbor, graph, visited, component);
}
}
}

std::vector<std::vector<int>> findConnectedComponents(const std::vector<std::vector<int>>& graph)
{
std::vector<bool> visited(graph.size(), false);
std::vector<std::vector<int>> components;

for (int vertex = 0; vertex < graph.size(); ++vertex) {
if (!visited[vertex]) {
std::vector<int> component;
dfs(vertex, graph, visited, component);
components.push_back(component);
}
}

return components;
int num_clusters = clusters.size();
Eigen::MatrixXi num_intersects_table = Eigen::MatrixXi::Zero(num_clusters, num_clusters);
for (int i1 = 0; i1 < num_clusters - 1; i1++)
{
for (int i2 = i1 + 1; i2 < num_clusters; i2++)
{
std::vector<int> intersection;
std::set_intersection(clusters[i1].second.begin(), clusters[i1].second.end(), clusters[i2].second.begin(), clusters[i2].second.end(), std::back_inserter(intersection));
num_intersects_table(i1, i2) = intersection.size();
}
}
return num_intersects_table;
}

std::vector<ClusterPtr> genClusters(const Eigen::MatrixXi& validation_matrix, const Eigen::MatrixXd& likelihood_matrix)
Expand All @@ -45,75 +32,74 @@ std::vector<ClusterPtr> genClusters(const Eigen::MatrixXi& validation_matrix, co

// Form clusters of tracks sharing measurements
std::set<int> missed_tracks;
std::vector<ClusterPtr> clusters;

std::vector<std::vector<int>> v_list(num_detections);
for (int detection = 0; detection < num_detections; detection++)
{
for (int track = 0; track < num_tracks; track++)
{
if (validation_matrix_true(track, detection) == 1)
{
v_list[detection].push_back(track);
}
}
}

std::vector<std::vector<int>> graph(num_tracks, std::vector<int>(num_tracks));
for (auto& v : v_list)
{
if (v.size() == 0)
continue;
for (int i = 0; i < v.size()-1; i++)
{
int j = i + 1;
graph[v[i]][v[j]] = 1;
graph[v[j]][v[i]] = 1;
}
}

std::vector<std::vector<int>> components = findConnectedComponents(graph);

for (auto& tracks : components) {
std::set<int> v_detections;
for (auto& track : tracks)
{
for (int detection = 0; detection < num_detections; detection++)
{
if (validation_matrix_true(track, detection) == 1)
{
v_detections.insert(detection + 1);
}
}
}
if (v_detections.size() == 0) {
for (auto& track : tracks)
{
missed_tracks.insert(track);
}
continue;
}
v_detections.insert(0);
std::vector<int> v_detections_vec(v_detections.begin(), v_detections.end());
Eigen::MatrixXi c_validation_matrix = validation_matrix(tracks, v_detections_vec);
Eigen::MatrixXd c_likelihood_matrix;
if (likelihood_matrix.rows() == 0) {
c_likelihood_matrix = Eigen::MatrixXd::Zero(0, 0);
}
else {
c_likelihood_matrix = likelihood_matrix(tracks, v_detections_vec);
}
ClusterPtr c = std::make_shared<Cluster>(Cluster(tracks, v_detections_vec, c_validation_matrix, c_likelihood_matrix));
clusters.push_back(c);
}

if (missed_tracks.size() > 0) {
std::vector<int> missed_tracks_vec(missed_tracks.begin(), missed_tracks.end());
ClusterPtr c = std::make_shared<Cluster>(Cluster(missed_tracks_vec));
clusters.push_back(c);
std::vector<std::pair<std::vector<int>, std::set<int>>> clusters;
std::vector<ClusterPtr> clusters_obj;

for (int i = 0; i < num_tracks; i++)
{
std::pair<std::vector<int>, std::set<int>> cluster;
cluster.first.push_back(i);
for (int j = 0; j < num_detections; j++)
{
if (validation_matrix_true(i, j) == 1)
{
cluster.second.insert(j+1);
}
}
clusters.push_back(cluster);
}

// Get table of number of intersections between clusters
Eigen::MatrixXi num_intersects_table = getNumIntersectsTable(clusters);

// Continue until we have only one cluster or none of them intersect
while (clusters.size() > 0) {
// Find maximum intersection - if no intersection, break
Eigen::Index maxi, maxj; // Use Eigen::Index for indexing
int maxVal = num_intersects_table.maxCoeff(&maxi, &maxj);
if (maxVal == 0) {
break;
}

// Merge one cluster into another and delete it
std::vector<int> merged_tracks;
std::set<int> merged_detections;
merged_tracks.insert(merged_tracks.end(), clusters[maxi].first.begin(), clusters[maxi].first.end());
merged_tracks.insert(merged_tracks.end(), clusters[maxj].first.begin(), clusters[maxj].first.end());
std::set_union(clusters[maxi].second.begin(), clusters[maxi].second.end(), clusters[maxj].second.begin(), clusters[maxj].second.end(), std::inserter(merged_detections, merged_detections.begin()));
clusters[maxi] = std::make_pair(merged_tracks, merged_detections);
clusters.erase(clusters.begin() + maxj);

// Update table of number of intersections between clusters
num_intersects_table = getNumIntersectsTable(clusters);
}

return clusters;
for (auto& clust : clusters) {
if (clust.second.size() == 0) {
missed_tracks.insert(clust.first[0]);
continue;
}
clust.second.insert(0);
std::vector<int> v_detections_vec(clust.second.begin(), clust.second.end());
Eigen::MatrixXi c_validation_matrix = validation_matrix(clust.first, v_detections_vec);
Eigen::MatrixXd c_likelihood_matrix;
if (likelihood_matrix.rows() == 0) {
c_likelihood_matrix = Eigen::MatrixXd::Zero(0, 0);
}
else {
c_likelihood_matrix = likelihood_matrix(clust.first, v_detections_vec);
}
ClusterPtr cluster = std::make_shared<Cluster>(Cluster(clust.first, v_detections_vec, c_validation_matrix, c_likelihood_matrix));
clusters_obj.push_back(cluster);
}

if (missed_tracks.size() > 0) {
std::vector<int> missed_tracks_vec(missed_tracks.begin(), missed_tracks.end());
ClusterPtr c = std::make_shared<Cluster>(Cluster(missed_tracks_vec));
clusters_obj.push_back(c);
}

return clusters_obj;
}

} // namespace utils
Expand Down
3 changes: 1 addition & 2 deletions src/utils/Utils.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,7 @@ namespace ehm
namespace utils
{

void dfs(int vertex, const std::vector<std::vector<int>>& graph, std::vector<bool>& visited, std::vector<int>& component);
std::vector<std::vector<int>> findConnectedComponents(const std::vector<std::vector<int>>& graph);
Eigen::MatrixXi getNumIntersectsTable(std::vector<std::pair<std::vector<int>,std::set<int>>> clusters);
std::vector<ClusterPtr> genClusters(const Eigen::MatrixXi& validation_matrix, const Eigen::MatrixXd& likelihood_matrix);

} // namespace utils
Expand Down