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GCoptimization.cpp
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GCoptimization.cpp
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#ifdef MATLAB_MEX_FILE
#include <mex.h>
#endif
#include "GCoptimization.h"
#include "LinkedBlockList.h"
#include <stdio.h>
#include <stdlib.h>
#include <vector>
#include <algorithm>
// will leave this one just for the laughs :)
//#define olga_assert(expr) assert(!(expr))
// Choose reasonably high-precision timer (sub-millisec resolution if possible).
#ifdef _WIN32
#define WIN32_LEAN_AND_MEAN
#define VC_EXTRALEAN
#include <windows.h>
extern "C" gcoclock_t GCO_CLOCKS_PER_SEC = 0;
extern "C" inline gcoclock_t gcoclock() // TODO: not thread safe; separate begin/end so that end doesn't have to check for query frequency
{
gcoclock_t result = 0;
if (GCO_CLOCKS_PER_SEC == 0)
QueryPerformanceFrequency((LARGE_INTEGER*)&GCO_CLOCKS_PER_SEC);
QueryPerformanceCounter((LARGE_INTEGER*)&result);
return result;
}
#else
gcoclock_t GCO_CLOCKS_PER_SEC = CLOCKS_PER_SEC;
extern "C" gcoclock_t gcoclock() { return clock(); }
#endif
#ifdef MATLAB_MEX_FILE
extern "C" bool utIsInterruptPending();
static void flushnow()
{
// Don't flush to frequently, for overall speed.
static gcoclock_t prevclock = 0;
gcoclock_t now = gcoclock();
if (now - prevclock > GCO_CLOCKS_PER_SEC/5) {
prevclock = now;
mexEvalString("drawnow;");
}
}
#define INDEX0 1 // print 1-based label and site indices for MATLAB
#else
inline static bool utIsInterruptPending() { return false; }
static void flushnow() { }
#define INDEX0 0 // print 0-based label and site indices
#endif
// Singly-linked list helper functions; works on any struct with a 'next' member.
template <typename T>
void slist_clear(T*& head)
{
while (head) {
T* temp = head;
head = head->next;
delete temp;
}
}
template <typename T>
void slist_prepend(T*& head, T* val)
{
val->next = head;
head = val;
}
void GCException::Report()
{
printf("\n%s\n",message);
exit(0);
}
/////////////////////////////////////////////////////////////////////////////////////////////////
// First we have functions for the base class
/////////////////////////////////////////////////////////////////////////////////////////////////
// Constructor for base class
GCoptimization::GCoptimization(SiteID nSites, LabelID nLabels)
: m_num_labels(nLabels)
, m_num_sites(nSites)
, m_datacostIndividual(0)
, m_smoothcostIndividual(0)
, m_labelcostsAll(0)
, m_labelcostsByLabel(0)
, m_labelcostCount(0)
, m_smoothcostFn(0)
, m_datacostFn(0)
, m_numNeighborsTotal(0)
, m_queryActiveSitesExpansion(&GCoptimization::queryActiveSitesExpansion<DataCostFnFromArray>)
, m_setupDataCostsSwap(0)
, m_setupDataCostsExpansion(0)
, m_setupSmoothCostsSwap(0)
, m_setupSmoothCostsExpansion(0)
, m_applyNewLabeling(0)
, m_updateLabelingDataCosts(0)
, m_giveSmoothEnergyInternal(0)
, m_solveSpecialCases(&GCoptimization::solveSpecialCases<DataCostFnFromArray>)
, m_datacostFnDelete(0)
, m_smoothcostFnDelete(0)
, m_random_label_order(false)
, m_verbosity(0)
, m_labelingInfoDirty(true)
, m_lookupSiteVar(new SiteID[nSites])
, m_labeling(new LabelID[nSites])
, m_labelTable(new LabelID[nLabels])
, m_labelingDataCosts(new EnergyTermType[nSites])
, m_labelCounts(new SiteID[nLabels])
, m_activeLabelCounts(new SiteID[m_num_labels])
, m_stepsThisCycle(0)
, m_stepsThisCycleTotal(0)
{
if ( nLabels <= 1 ) handleError("Number of labels must be >= 2");
if ( nSites <= 0 ) handleError("Number of sites must be >= 1");
if ( !m_lookupSiteVar || !m_labelTable || !m_labeling ){
if (m_lookupSiteVar) delete [] m_lookupSiteVar;
if (m_labelTable) delete [] m_labelTable;
if (m_labeling) delete [] m_labeling;
if (m_labelingDataCosts) delete [] m_labelingDataCosts;
if (m_labelCounts) delete [] m_labelCounts;
handleError("Not enough memory.");
}
memset(m_labeling, 0, m_num_sites*sizeof(LabelID));
memset(m_lookupSiteVar,-1,m_num_sites*sizeof(SiteID));
setLabelOrder(false);
specializeSmoothCostFunctor(SmoothCostFnPotts());
}
//-------------------------------------------------------------------
GCoptimization::~GCoptimization()
{
delete [] m_labelTable;
delete [] m_lookupSiteVar;
delete [] m_labeling;
delete [] m_labelingDataCosts;
delete [] m_labelCounts;
delete [] m_activeLabelCounts;
if (m_datacostFnDelete) m_datacostFnDelete(m_datacostFn);
if (m_smoothcostFnDelete) m_smoothcostFnDelete(m_smoothcostFn);
if (m_datacostIndividual) delete [] m_datacostIndividual;
if (m_smoothcostIndividual) delete [] m_smoothcostIndividual;
// Delete label cost bookkeeping structures
//
slist_clear(m_labelcostsAll);
if (m_labelcostsByLabel) {
for ( LabelID i = 0; i < m_num_labels; ++i )
slist_clear(m_labelcostsByLabel[i]);
delete [] m_labelcostsByLabel;
}
}
//-------------------------------------------------------------------
template <>
GCoptimization::SiteID GCoptimization::queryActiveSitesExpansion<GCoptimization::DataCostFnSparse>(LabelID alpha_label,SiteID *activeSites)
{
return ((DataCostFnSparse*)m_datacostFn)->queryActiveSitesExpansion(alpha_label,m_labeling,activeSites);
}
//-------------------------------------------------------------------
template <>
void GCoptimization::setupDataCostsExpansion<GCoptimization::DataCostFnSparse>(SiteID size,LabelID alpha_label,EnergyT *e,SiteID *activeSites)
{
DataCostFnSparse* dc = (DataCostFnSparse*)m_datacostFn;
DataCostFnSparse::iterator dciter = dc->begin(alpha_label);
for ( SiteID i = 0; i < size; ++i )
{
SiteID site = activeSites[i];
while ( dciter.site() != site )
++dciter;
addterm1_checked(e,i,dciter.cost(),m_labelingDataCosts[site]);
}
}
//-------------------------------------------------------------------
template <>
void GCoptimization::applyNewLabeling<GCoptimization::DataCostFnSparse>(EnergyT *e,SiteID *activeSites,SiteID size,LabelID alpha_label)
{
DataCostFnSparse* dc = (DataCostFnSparse*)m_datacostFn;
DataCostFnSparse::iterator dciter = dc->begin(alpha_label);
for ( SiteID i = 0; i < size; i++ )
{
if ( e->get_var(i) == 0 )
{
SiteID site = activeSites[i];
LabelID prev = m_labeling[site];
m_labeling[site] = alpha_label;
m_labelCounts[alpha_label]++;
m_labelCounts[prev]--;
while ( dciter.site() != site )
++dciter;
m_labelingDataCosts[site] = dciter.cost();
}
}
m_labelingInfoDirty = true;
updateLabelingInfo(false,true,false); // labels have changed, so update necessary labeling info
}
//-------------------------------------------------------------------
template <typename UserFunctor>
void GCoptimization::specializeDataCostFunctor(const UserFunctor f) {
if ( m_datacostFnDelete )
m_datacostFnDelete(m_datacostFn);
if ( m_datacostIndividual )
{
delete [] m_datacostIndividual;
m_datacostIndividual = 0;
}
m_datacostFn = new UserFunctor(f);
m_datacostFnDelete = &GCoptimization::deleteFunctor<UserFunctor>;
m_queryActiveSitesExpansion = &GCoptimization::queryActiveSitesExpansion<UserFunctor>;
m_setupDataCostsExpansion = &GCoptimization::setupDataCostsExpansion<UserFunctor>;
m_setupDataCostsSwap = &GCoptimization::setupDataCostsSwap<UserFunctor>;
m_applyNewLabeling = &GCoptimization::applyNewLabeling<UserFunctor>;
m_updateLabelingDataCosts = &GCoptimization::updateLabelingDataCosts<UserFunctor>;
m_solveSpecialCases = &GCoptimization::solveSpecialCases<UserFunctor>;
}
template <typename UserFunctor>
void GCoptimization::specializeSmoothCostFunctor(const UserFunctor f) {
if ( m_smoothcostFnDelete )
m_smoothcostFnDelete(m_smoothcostFn);
if ( m_smoothcostIndividual )
{
delete [] m_smoothcostIndividual;
m_smoothcostIndividual = 0;
}
m_smoothcostFn = new UserFunctor(f);
m_smoothcostFnDelete = &GCoptimization::deleteFunctor<UserFunctor>;
m_giveSmoothEnergyInternal = &GCoptimization::giveSmoothEnergyInternal<UserFunctor>;
m_setupSmoothCostsExpansion = &GCoptimization::setupSmoothCostsExpansion<UserFunctor>;
m_setupSmoothCostsSwap = &GCoptimization::setupSmoothCostsSwap<UserFunctor>;
}
//-------------------------------------------------------------------
template <typename SmoothCostT>
GCoptimization::EnergyType GCoptimization::giveSmoothEnergyInternal()
{
EnergyType eng = (EnergyType) 0;
SiteID i,numN,*nPointer,nSite,n;
EnergyTermType *weights;
SmoothCostT* sc = (SmoothCostT*) m_smoothcostFn;
for ( i = 0; i < m_num_sites; i++ )
{
giveNeighborInfo(i,&numN,&nPointer,&weights);
for ( n = 0; n < numN; n++ )
{
nSite = nPointer[n];
if ( nSite < i )
eng += weights[n]*(sc->compute(i,nSite,m_labeling[i],m_labeling[nSite]));
}
}
return eng;
}
//-------------------------------------------------------------------
OLGA_INLINE void GCoptimization::addterm1_checked(EnergyT* e, VarID i, EnergyTermType e0, EnergyTermType e1)
{
if ( e0 > GCO_MAX_ENERGYTERM || e1 > GCO_MAX_ENERGYTERM )
handleError("Data cost term was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
m_beforeExpansionEnergy += e1;
e->add_term1(i,e0,e1);
}
OLGA_INLINE void GCoptimization::addterm1_checked(EnergyT* e, VarID i, EnergyTermType e0, EnergyTermType e1, EnergyTermType w)
{
if ( e0 > GCO_MAX_ENERGYTERM || e1 > GCO_MAX_ENERGYTERM )
handleError("Smooth cost term was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
if ( w > GCO_MAX_ENERGYTERM )
handleError("Smoothness weight was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
m_beforeExpansionEnergy += e1*w;
e->add_term1(i,e0*w,e1*w);
}
OLGA_INLINE void GCoptimization::addterm2_checked(EnergyT* e, VarID i, VarID j, EnergyTermType e00, EnergyTermType e01, EnergyTermType e10, EnergyTermType e11, EnergyTermType w)
{
if ( e00 > GCO_MAX_ENERGYTERM || e11 > GCO_MAX_ENERGYTERM || e01 > GCO_MAX_ENERGYTERM || e10 > GCO_MAX_ENERGYTERM )
handleError("Smooth cost term was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
if ( w > GCO_MAX_ENERGYTERM )
handleError("Smoothness weight was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
// Inside energy/maxflow code the submodularity check is performed as an assertion,
// but is optimized out. We check it in release builds as well.
if ( e00+e11 > e01+e10 )
handleError("Non-submodular expansion term detected; smooth costs must be a metric for expansion");
m_beforeExpansionEnergy += e11*w;
e->add_term2(i,j,e00*w,e01*w,e10*w,e11*w);
}
//------------------------------------------------------------------
template <typename DataCostT>
GCoptimization::SiteID GCoptimization::queryActiveSitesExpansion(LabelID alpha_label,SiteID *activeSites)
{
SiteID size = 0;
for ( SiteID i = 0; i < m_num_sites; i++ )
if ( m_labeling[i] != alpha_label )
activeSites[size++] = i;
return size;
}
//-------------------------------------------------------------------
template <typename DataCostT>
void GCoptimization::setupDataCostsExpansion(SiteID size,LabelID alpha_label,EnergyT *e,SiteID *activeSites)
{
DataCostT* dc = (DataCostT*)m_datacostFn;
for ( SiteID i = 0; i < size; ++i )
addterm1_checked(e,i,dc->compute(activeSites[i],alpha_label),m_labelingDataCosts[activeSites[i]]);
}
//-------------------------------------------------------------------
template <typename SmoothCostT>
void GCoptimization::setupSmoothCostsExpansion(SiteID size,LabelID alpha_label,EnergyT *e,SiteID *activeSites)
{
SiteID i,nSite,site,n,nNum,*nPointer;
EnergyTermType *weights;
SmoothCostT* sc = (SmoothCostT*)m_smoothcostFn;
for ( i = size - 1; i >= 0; i-- )
{
site = activeSites[i];
giveNeighborInfo(site,&nNum,&nPointer,&weights);
for ( n = 0; n < nNum; n++ )
{
nSite = nPointer[n];
if ( m_lookupSiteVar[nSite] == -1 )
addterm1_checked(e,i,sc->compute(site,nSite,alpha_label,m_labeling[nSite]),
sc->compute(site,nSite,m_labeling[site],m_labeling[nSite]),weights[n]);
else if ( nSite < site )
{
addterm2_checked(e,i,m_lookupSiteVar[nSite],
sc->compute(site,nSite,alpha_label,alpha_label),
sc->compute(site,nSite,alpha_label,m_labeling[nSite]),
sc->compute(site,nSite,m_labeling[site],alpha_label),
sc->compute(site,nSite,m_labeling[site],m_labeling[nSite]),weights[n]);
}
}
}
}
//-----------------------------------------------------------------------------------
template <typename DataCostT>
void GCoptimization::setupDataCostsSwap(SiteID size, LabelID alpha_label, LabelID beta_label,
EnergyT *e,SiteID *activeSites )
{
DataCostT* dc = (DataCostT*)m_datacostFn;
for ( SiteID i = 0; i < size; i++ )
{
e->add_term1(i,dc->compute(activeSites[i],alpha_label),
dc->compute(activeSites[i],beta_label) );
}
}
//-------------------------------------------------------------------
template <typename SmoothCostT>
void GCoptimization::setupSmoothCostsSwap(SiteID size, LabelID alpha_label,LabelID beta_label,
EnergyT *e,SiteID *activeSites )
{
SiteID i,nSite,site,n,nNum,*nPointer;
EnergyTermType *weights;
SmoothCostT* sc = (SmoothCostT*)m_smoothcostFn;
for ( i = size - 1; i >= 0; i-- )
{
site = activeSites[i];
giveNeighborInfo(site,&nNum,&nPointer,&weights);
for ( n = 0; n < nNum; n++ )
{
nSite = nPointer[n];
if ( m_lookupSiteVar[nSite] == -1 )
addterm1_checked(e,i,sc->compute(site,nSite,alpha_label,m_labeling[nSite]),
sc->compute(site,nSite,beta_label, m_labeling[nSite]),weights[n]);
else if ( nSite < site )
{
addterm2_checked(e,i,m_lookupSiteVar[nSite],
sc->compute(site,nSite,alpha_label,alpha_label),
sc->compute(site,nSite,alpha_label,beta_label),
sc->compute(site,nSite,beta_label,alpha_label),
sc->compute(site,nSite,beta_label,beta_label),weights[n]);
}
}
}
}
//-----------------------------------------------------------------------------------
template <typename DataCostT>
void GCoptimization::applyNewLabeling(EnergyT *e,SiteID *activeSites,SiteID size,LabelID alpha_label)
{
DataCostT* dc = (DataCostT*)m_datacostFn;
for ( SiteID i = 0; i < size; i++ )
{
if ( e->get_var(i) == 0 )
{
SiteID site = activeSites[i];
LabelID prev = m_labeling[site];
m_labeling[site] = alpha_label;
m_labelCounts[alpha_label]++;
m_labelCounts[prev]--;
m_labelingDataCosts[site] = dc->compute(site,alpha_label);
}
}
m_labelingInfoDirty = true;
updateLabelingInfo(false,true,false); // labels have changed, so update necessary labeling info
}
//-----------------------------------------------------------------------------------
template <typename DataCostT>
void GCoptimization::updateLabelingDataCosts()
{
DataCostT* dc = (DataCostT*)m_datacostFn;
for (int i = 0; i < m_num_sites; ++i)
m_labelingDataCosts[i] = dc->compute(i,m_labeling[i]);
}
//-----------------------------------------------------------------------------------
template <typename DataCostT>
bool GCoptimization::solveSpecialCases(EnergyType& energy)
{
finalizeNeighbors();
DataCostT* dc = (DataCostT*)m_datacostFn;
bool sc = m_numNeighborsTotal != 0;
bool lc = m_labelcostsAll != 0;
if ( !dc && !sc && !lc )
{
energy = 0;
return true;
}
if ( dc && !sc && !lc ) {
// Special case: No label costs, so return trivial solution
energy = 0;
for ( SiteID i = 0; i < m_num_sites; ++i ) {
LabelID minCostLabel = 0;
EnergyTermType minCost = dc->compute(i, 0);
for ( LabelID l = 1; l < m_num_labels; ++l ) {
EnergyTermType lcost = dc->compute(i, l);
if ( lcost < minCost ) {
minCostLabel = l;
minCost = lcost;
}
}
if ( minCostLabel > GCO_MAX_ENERGYTERM )
handleError("Data cost was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
m_labeling[i] = minCostLabel;
energy += minCost;
}
m_labelingInfoDirty = true;
updateLabelingInfo();
return true;
}
if ( !dc && !sc && lc ) {
// Special case: No data costs, so return trivial solution
LabelID minLabel = 0;
EnergyType minLabelCost = GCO_MAX_ENERGYTERM*(EnergyType)m_num_labels;
for ( LabelID l = 0; l < m_num_labels; ++l ) {
EnergyType lcsum = 0;
for ( LabelCostIter* lci = m_labelcostsByLabel[l]; lci; lci = lci->next )
lcsum += lci->node->cost;
if ( lcsum < minLabelCost ) {
minLabel = l;
minLabelCost = lcsum;
}
}
for ( SiteID i = 0; i < m_num_sites; ++i )
m_labeling[i] = minLabel;
energy = minLabelCost;
m_labelingInfoDirty = true;
updateLabelingInfo();
return true;
}
if ( dc && !sc && lc ) {
LabelCost* lc;
for ( lc = m_labelcostsAll; lc; lc = lc->next )
if ( lc->numLabels > 1)
break;
if ( !lc ) {
// Special case: Data costs and per-label costs
energy = solveGreedy<DataCostT>();
return true;
}
}
// Otherwise, use full-blown expansion/swap
return false;
}
template <>
class GCoptimization::GreedyIter<GCoptimization::DataCostFnSparse> {
public:
GreedyIter(DataCostFnSparse& dc, SiteID)
: m_dc(dc), m_label(0), m_labelend(0)
{ }
OLGA_INLINE void start(const LabelID* labels, LabelID labelCount=1)
{
m_label = labels;
m_labelend = labels + labelCount;
if (labelCount > 0) {
m_site = m_dc.begin(*labels);
m_siteend = m_dc.end(*labels);
while (m_site == m_siteend) {
if (++m_label == m_labelend)
break;
m_site = m_dc.begin(*m_label);
m_siteend = m_dc.end(*m_label);
}
}
}
OLGA_INLINE SiteID site() const { return m_site.site(); }
OLGA_INLINE SiteID label() const { return *m_label; }
OLGA_INLINE bool done() const { return m_label >= m_labelend; }
OLGA_INLINE GreedyIter& operator++()
{
// The inner loop is over sites, not labels, because sparse data costs
// are stored as consecutive [sparse] SiteIDs with respect to each label.
if (++m_site == m_siteend) {
while (++m_label < m_labelend) {
m_site = m_dc.begin(*m_label);
m_siteend = m_dc.end(*m_label);
if (m_site != m_siteend)
break;
}
}
return *this;
}
OLGA_INLINE EnergyTermType compute() const { return m_site.cost(); }
OLGA_INLINE SiteID feasibleSites() const { return (SiteID)(m_siteend - m_site); }
private:
DataCostFnSparse::iterator m_site;
DataCostFnSparse::iterator m_siteend;
DataCostFnSparse& m_dc;
const LabelID* m_label;
const LabelID* m_labelend;
};
template <typename DataCostT>
GCoptimization::EnergyType GCoptimization::solveGreedy()
{
printStatus1("starting greedy algorithm (1 cycle only)");
m_stepsThisCycle = m_stepsThisCycleTotal = 0;
EnergyType estart = compute_energy();
EnergyType efinal = 0;
LabelID* oldLabeling = m_labeling;
m_labeling = new LabelID[m_num_sites];
EnergyType* e = new EnergyType[m_num_labels];
LabelID* order = new LabelID[m_num_labels]; // order[0..activeCount-1] contains the activated labels so far
try {
gcoclock_t ticks0all = gcoclock();
gcoclock_t ticks0 = gcoclock();
// clear active flags
for ( LabelCost* lc = m_labelcostsAll; lc; lc = lc->next)
lc->active = false;
DataCostT* dc = (DataCostT*)m_datacostFn;
GreedyIter<DataCostT> iter(*dc,m_num_sites);
LabelID alpha = 0;
// Treat first iteration as special case.
// Ignore current labeling and just find the greedy initial label.
for ( LabelID l = 0; l < m_num_labels; ++l ) {
e[l] = 0;
for ( LabelCostIter* lci = m_labelcostsByLabel[l]; lci; lci = lci->next )
e[l] += lci->node->cost;
iter.start(&l);
e[l] += (EnergyType)(m_num_sites - iter.feasibleSites()) * GCO_MAX_ENERGYTERM; // pre-add GCO_MAX_ENERGYTERM for all infeasible sites
for (; !iter.done(); ++iter) {
EnergyTermType dataCost = iter.compute();
if ( dataCost > GCO_MAX_ENERGYTERM )
handleError("Data cost was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
e[l] += dataCost;
if ( e[l] > e[alpha] ) // break out early if this will definitely
break; // not be a good label to start from
}
if ( e[l] < e[alpha] ) // choose alpha with minimum energy e[alpha]
alpha = l;
}
for ( SiteID i = 0; i < m_num_sites; ++i ) {
m_labeling[i] = alpha;
m_labelingDataCosts[i] = dc->compute(i,alpha);
}
for ( LabelCostIter* lci = m_labelcostsByLabel[alpha]; lci; lci = lci->next )
lci->node->active = true;
// List of labels in the order that they were expanded upon (order[0] first, order[1] second, ...)
for ( LabelID l = 0; l < m_num_labels; ++l )
order[l] = l;
order[alpha] = 0;
order[0] = alpha;
printStatus2(alpha,-1,m_num_sites,ticks0);
// Greedily expand remaining labels
for ( LabelID alpha_count = 1; alpha_count <= m_num_labels; ++alpha_count) {
checkInterrupt();
ticks0 = gcoclock();
// Energy e[l] for expanding on label 'l' starts at e[alpha] + new labelcosts for introducing l
LabelID alpha_prev = alpha;
for ( LabelID li = alpha_count; li < m_num_labels; ++li ) {
LabelID l = order[li];
e[l] = e[alpha_prev];
for ( LabelCostIter* lci = m_labelcostsByLabel[l]; lci; lci = lci->next )
if ( !lci->node->active )
e[l] += lci->node->cost;
}
// Loop over all sites and all remaining labels to calculate energy drop.
for ( iter.start(&order[alpha_count],m_num_labels-alpha_count); !iter.done(); ++iter ) {
EnergyTermType dc_l = iter.compute();
EnergyTermType dc_i = m_labelingDataCosts[iter.site()];
EnergyTermType delta_i = dc_l - dc_i;
if ( delta_i < 0 )
e[iter.label()] += delta_i;
}
// Choose the next alpha based on lowest resulting energy
LabelID alpha_index = alpha_count-1;
for ( LabelID li = alpha_count; li < m_num_labels; ++li ) {
LabelID l = order[li];
if ( e[l] < e[alpha] ) {
alpha = l;
alpha_index = li;
}
}
if ( alpha == alpha_prev )
break;
// Append alpha to the list of activated labels
LabelID temp = order[alpha_count];
order[alpha_count] = order[alpha_index];
order[alpha_index] = temp;
// Apply the new labeling, updating m_labelingDataCosts and active labelcosts as necessary
iter.start(&alpha);
SiteID size = iter.feasibleSites();
for ( ; !iter.done(); ++iter ) {
EnergyTermType dc_l = iter.compute();
EnergyTermType dc_i = m_labelingDataCosts[iter.site()];
EnergyTermType delta_i = dc_l - dc_i;
if ( delta_i < 0 ) {
m_labeling[iter.site()] = alpha;
m_labelingDataCosts[iter.site()] = dc_l;
}
}
for ( LabelCostIter* lci = m_labelcostsByLabel[alpha]; lci; lci = lci->next )
lci->node->active = true;
printStatus2(alpha,-1,size,ticks0);
}
efinal = e[alpha];
if ( efinal < estart ) {
// Greedy succeeded in lowering energy compared to initial labeling
delete [] oldLabeling;
m_labelingInfoDirty = true;
updateLabelingInfo(true,false,false); // update m_labelCounts only; m_labelingDataCosts and active labelcosts should be up to date
printStatus1(1,false,ticks0all);
} else {
// Greedy failed to find a lower energy, so revert everything
efinal = estart;
delete [] m_labeling;
m_labeling = oldLabeling;
m_labelingInfoDirty = true;
updateLabelingInfo(); // put all labeling info back the way it was
printStatus1(1,false,ticks0all);
}
delete [] order;
delete [] e;
} catch (...) {
delete [] order;
delete [] e;
throw;
}
return efinal;
}
//------------------------------------------------------------------
void GCoptimization::setDataCost(DataCostFn fn) {
specializeDataCostFunctor(DataCostFnFromFunction(fn));
m_labelingInfoDirty = true;
}
//------------------------------------------------------------------
void GCoptimization::setDataCost(DataCostFnExtra fn, void *extraData) {
specializeDataCostFunctor(DataCostFnFromFunctionExtra(fn, extraData));
m_labelingInfoDirty = true;
}
//-------------------------------------------------------------------
void GCoptimization::setDataCost(EnergyTermType *dataArray) {
specializeDataCostFunctor(DataCostFnFromArray(dataArray, m_num_labels));
m_labelingInfoDirty = true;
}
//-------------------------------------------------------------------
void GCoptimization::setDataCost(SiteID s, LabelID l, EnergyTermType e) {
if ( !m_datacostIndividual )
{
EnergyTermType* table = new EnergyTermType[m_num_sites*m_num_labels];
memset(table, 0, m_num_sites*m_num_labels*sizeof(EnergyTermType));
specializeDataCostFunctor(DataCostFnFromArray(table, m_num_labels));
m_datacostIndividual = table;
m_labelingInfoDirty = true;
}
m_datacostIndividual[s*m_num_labels + l] = e;
if ( m_labeling[s] == l )
m_labelingInfoDirty = true; // m_labelingDataCosts is dirty
}
//-------------------------------------------------------------------
void GCoptimization::setDataCostFunctor(DataCostFunctor* f) {
if ( m_datacostFnDelete )
m_datacostFnDelete(m_datacostFn);
if ( m_datacostIndividual )
{
delete [] m_datacostIndividual;
m_datacostIndividual = 0;
}
m_datacostFn = f;
m_datacostFnDelete = 0;
m_queryActiveSitesExpansion = &GCoptimization::queryActiveSitesExpansion<DataCostFunctor>;
m_setupDataCostsExpansion = &GCoptimization::setupDataCostsExpansion<DataCostFunctor>;
m_setupDataCostsSwap = &GCoptimization::setupDataCostsSwap<DataCostFunctor>;
m_applyNewLabeling = &GCoptimization::applyNewLabeling<DataCostFunctor>;
m_updateLabelingDataCosts = &GCoptimization::updateLabelingDataCosts<DataCostFunctor>;
m_solveSpecialCases = &GCoptimization::solveSpecialCases<DataCostFunctor>;
m_labelingInfoDirty = true;
}
//-------------------------------------------------------------------
void GCoptimization::setDataCost(LabelID l, SparseDataCost *costs, SiteID count)
{
if ( !m_datacostFn )
specializeDataCostFunctor(DataCostFnSparse(numSites(),numLabels()));
else if ( m_queryActiveSitesExpansion != (SiteID (GCoptimization::*)(LabelID,SiteID*))&GCoptimization::queryActiveSitesExpansion<DataCostFnSparse> )
handleError("Cannot apply sparse data costs after dense data costs have been used.");
m_labelingInfoDirty = true;
DataCostFnSparse* dc = (DataCostFnSparse*)m_datacostFn;
dc->set(l,costs,count);
}
//-------------------------------------------------------------------
void GCoptimization::setSmoothCost(SmoothCostFn fn) {
specializeSmoothCostFunctor(SmoothCostFnFromFunction(fn));
}
//-------------------------------------------------------------------
void GCoptimization::setSmoothCost(SmoothCostFnExtra fn, void* extraData) {
specializeSmoothCostFunctor(SmoothCostFnFromFunctionExtra(fn, extraData));
}
//-------------------------------------------------------------------
void GCoptimization::setSmoothCost(EnergyTermType *smoothArray) {
specializeSmoothCostFunctor(SmoothCostFnFromArray(smoothArray, m_num_labels));
}
//-------------------------------------------------------------------
void GCoptimization::setSmoothCost(LabelID l1, LabelID l2, EnergyTermType e){
if ( !m_smoothcostIndividual )
{
EnergyTermType* table = new EnergyTermType[m_num_labels*m_num_labels];
memset(table, 0, m_num_labels*m_num_labels*sizeof(EnergyTermType));
specializeSmoothCostFunctor(SmoothCostFnFromArray(table, m_num_labels));
m_smoothcostIndividual = table;
}
m_smoothcostIndividual[l1*m_num_labels + l2] = e;
}
//-------------------------------------------------------------------
void GCoptimization::setSmoothCostFunctor(SmoothCostFunctor* f) {
if ( m_smoothcostFnDelete )
m_smoothcostFnDelete(m_smoothcostFn);
if ( m_smoothcostIndividual )
{
delete [] m_smoothcostIndividual;
m_smoothcostIndividual = 0;
}
m_smoothcostFn = f;
m_smoothcostFnDelete = 0;
m_giveSmoothEnergyInternal = &GCoptimization::giveSmoothEnergyInternal<SmoothCostFunctor>;
m_setupSmoothCostsExpansion = &GCoptimization::setupSmoothCostsExpansion<SmoothCostFunctor>;
m_setupSmoothCostsSwap = &GCoptimization::setupSmoothCostsSwap<SmoothCostFunctor>;
}
//-------------------------------------------------------------------
void GCoptimization::setLabelCost(EnergyTermType cost)
{
EnergyTermType* lc = new EnergyTermType[m_num_labels];
for ( LabelID i = 0; i < m_num_labels; ++i )
lc[i] = cost;
setLabelCost(lc);
delete [] lc;
}
//-------------------------------------------------------------------
void GCoptimization::setLabelCost(EnergyTermType *costArray)
{
for ( LabelID i = 0; i < m_num_labels; ++i )
setLabelSubsetCost(&i, 1, costArray[i]);
}
//-------------------------------------------------------------------
void GCoptimization::setLabelSubsetCost(LabelID* labels, LabelID numLabels, EnergyTermType cost)
{
if ( cost < 0 )
handleError("Label costs must be non-negative.");
if ( cost > GCO_MAX_ENERGYTERM )
handleError("Label cost was larger than GCO_MAX_ENERGYTERM; danger of integer overflow.");
for ( LabelID i = 0; i < numLabels; ++i)
if ( labels[i] < 0 || labels[i] >= m_num_labels )
handleError("Invalid label id was found in label subset list.");
if ( !m_labelcostsByLabel ) {
m_labelcostsByLabel = new LabelCostIter*[m_num_labels];
memset(m_labelcostsByLabel, 0, m_num_labels*sizeof(void*));
}
// If this particular subset already has a cost, simply replace it.
for ( LabelCostIter* lci = m_labelcostsByLabel[labels[0]]; lci; lci = lci->next ) {
if ( numLabels == lci->node->numLabels ) {
if ( !memcmp(labels, lci->node->labels, numLabels*sizeof(LabelID)) ) {
// This label subset already exists, so just update the cost and return
lci->node->cost = cost;
return;
}
}
}
if (cost == 0)
return;
// Create a new LabelCost entry and add it to the appropriate lists
m_labelcostCount++;
LabelCost* lc = new LabelCost;
lc->cost = cost;
lc->active = false;
lc->aux = -1;
lc->numLabels = numLabels;
lc->labels = new LabelID[numLabels];
memcpy(lc->labels, labels, numLabels*sizeof(LabelID));
slist_prepend(m_labelcostsAll, lc);
for ( LabelID i = 0; i < numLabels; ++i ) {
LabelCostIter* lci = new LabelCostIter;
lci->node = lc;
slist_prepend(m_labelcostsByLabel[labels[i]], lci);
}
}
//-------------------------------------------------------------------
void GCoptimization::whatLabel(SiteID start, SiteID count, LabelID* labeling)
{
assert(start >= 0 && start+count <= m_num_sites);
memcpy(labeling, m_labeling+start, count*sizeof(LabelID));
}
//-------------------------------------------------------------------
GCoptimization::EnergyType GCoptimization::giveSmoothEnergy()
{
finalizeNeighbors();
if ( m_giveSmoothEnergyInternal )
return( (this->*m_giveSmoothEnergyInternal)());
return 0;
}
//-------------------------------------------------------------------
GCoptimization::EnergyType GCoptimization::giveDataEnergy()
{
updateLabelingInfo();
EnergyType energy = 0;
for ( SiteID i = 0; i < m_num_sites; i++ )
energy += m_labelingDataCosts[i];
return energy;
}
GCoptimization::EnergyType GCoptimization::giveLabelEnergy()
{
updateLabelingInfo();
EnergyType energy = 0;
for ( LabelCost* lc = m_labelcostsAll; lc; lc = lc->next)
if ( lc->active )
energy += lc->cost;
return energy;
}
//-------------------------------------------------------------------
GCoptimization::EnergyType GCoptimization::compute_energy()
{
return giveDataEnergy() + giveSmoothEnergy() + giveLabelEnergy();
}
//-------------------------------------------------------------------
void GCoptimization::permuteLabelTable()
{
if ( !m_random_label_order )
return;
for ( LabelID i = 0; i < m_num_labels; i++ )
{
LabelID j = i + (rand() % (m_num_labels-i));
LabelID temp = m_labelTable[i];
m_labelTable[i] = m_labelTable[j];
m_labelTable[j] = temp;
}
}
//-------------------------------------------------------------------
GCoptimization::EnergyType GCoptimization::expansion(int max_num_iterations)
{
EnergyType new_energy, old_energy;
if ( (this->*m_solveSpecialCases)(new_energy) )
return new_energy;
permuteLabelTable();
updateLabelingInfo();
try
{
if ( max_num_iterations == -1 )
{
// Strategic expansion loop focuses on labels that successfuly reduced the energy
printStatus1("starting alpha-expansion w/ adaptive cycles");
std::vector<LabelID> queueSizes;
queueSizes.push_back(m_num_labels);
int cycle = 1;
LabelID next = 0;
do
{
gcoclock_t ticks0 = gcoclock();
m_stepsThisCycle = 0;
// Make a pass over the unchecked labels in the current queue, i.e. m_labelTable[next..queueSize-1]
LabelID queueSize = queueSizes.back();
LabelID start = next;
m_stepsThisCycleTotal = queueSize - start;
do
{
if ( !alpha_expansion(m_labelTable[next]) )
std::swap(m_labelTable[next],m_labelTable[--queueSize]); // don't put this label in a new queue
else
++next; // keep this label for the next (smaller) queue
m_stepsThisCycle++;
} while ( next < queueSize );
if ( next == start ) // No expansion was successful, so try more labels from the previous queue
{
next = queueSizes.back();
queueSizes.pop_back();