vpMunkres.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Class for Munkres Assignment Algorithm.
 */
 
#pragma once
 
#include <visp3/core/vpConfig.h>
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) &&                                                                     \
    (!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
 
// Visual Studio: Optionals are available from Visual Studio 2017 RTW (15.0) [1910]
// Visual Studio: Structured bindings are available from Visual Studio 2017 version 15.3 [1911]
 
// System
#include <optional>
#include <tuple>
 
// Internal
#include "vpMath.h"
 
class VISP_EXPORT vpMunkres
{
public:
  template <typename Type>
  static std::vector<std::pair<unsigned int, unsigned int> > run(std::vector<std::vector<Type> > costs);
 
private:
  enum ZERO_T : unsigned int;
  enum STEP_T : unsigned int;
 
  // Init
  template <typename Type> static void padCostMatrix(std::vector<std::vector<Type> > &costs);
 
  // Global helpers
  template <typename Type>
  static std::optional<std::pair<unsigned int, unsigned int> > findAZero(const std::vector<std::vector<Type> > &costs,
                                                                         const std::vector<bool> &row_cover,
                                                                         const std::vector<bool> &col_cover);
  static std::optional<unsigned int> findStarInRow(const std::vector<std::vector<ZERO_T> > &mask,
                                                   const unsigned int &row);
  static std::optional<unsigned int> findStarInCol(const std::vector<std::vector<ZERO_T> > &mask,
                                                   const unsigned int &col);
  static std::optional<unsigned int> findPrimeInRow(const std::vector<std::vector<ZERO_T> > &mask,
                                                    const unsigned int &row);
  template <typename Type>
  static Type findSmallest(const std::vector<std::vector<Type> > &costs, const std::vector<bool> &row_cover,
                           const std::vector<bool> &col_cover);
 
  // FSM helpers
  static void augmentPath(std::vector<std::vector<ZERO_T> > &mask,
                          const std::vector<std::pair<unsigned int, unsigned int> > &path);
  static void clearCovers(std::vector<bool> &row_cover, std::vector<bool> &col_cover);
  static void erasePrimes(std::vector<std::vector<ZERO_T> > &mask);
 
  // FSM
  template <typename Type> static STEP_T stepOne(std::vector<std::vector<Type> > &costs);
  template <typename Type>
  static STEP_T stepTwo(std::vector<std::vector<Type> > &costs, std::vector<std::vector<ZERO_T> > &mask,
                        std::vector<bool> &row_cover, std::vector<bool> &col_cover);
  static STEP_T stepThree(const std::vector<std::vector<ZERO_T> > &mask, std::vector<bool> &col_cover);
  template <typename Type>
  static std::tuple<STEP_T, std::optional<std::pair<unsigned int, unsigned int> > >
  stepFour(const std::vector<std::vector<Type> > &costs, std::vector<std::vector<ZERO_T> > &mask,
           std::vector<bool> &row_cover, std::vector<bool> &col_cover);
  static STEP_T stepFive(std::vector<std::vector<ZERO_T> > &mask, const std::pair<unsigned int, unsigned int> &path_0,
                         std::vector<bool> &row_cover, std::vector<bool> &col_cover);
  template <typename Type>
  static STEP_T stepSix(std::vector<std::vector<Type> > &costs, const std::vector<bool> &row_cover,
                        const std::vector<bool> &col_cover);
 
private:
  static constexpr auto ZeroEpsilon{1e-6};
};
 
enum vpMunkres::ZERO_T : unsigned int { NA = 0, STARRED = 1, PRIMED = 2 };
 
enum vpMunkres::STEP_T : unsigned int { ENTRY = 0, ONE = 1, TWO = 2, THREE = 3, FOUR = 4, FIVE = 5, SIX = 6, DONE };
 
template <typename Type> inline void vpMunkres::padCostMatrix(std::vector<std::vector<Type> > &costs)
{
  const auto row_input_size = costs.size();
  const auto col_input_size = costs.at(0).size();
 
  if (row_input_size > col_input_size) {
    for (auto &vec : costs)
      vec.resize(row_input_size, 0);
  }
 
  while (costs.size() < col_input_size) {
    costs.emplace_back(col_input_size, 0);
  }
}
 
template <typename Type>
inline std::optional<std::pair<unsigned int, unsigned int> >
vpMunkres::findAZero(const std::vector<std::vector<Type> > &costs, const std::vector<bool> &row_cover,
                     const std::vector<bool> &col_cover)
{
  for (auto row = 0u; row < costs.size(); row++)
    for (auto col = 0u; col < costs.size(); col++)
      if (vpMath::equal(costs.at(row).at(col), static_cast<Type>(vpMunkres::ZeroEpsilon)) && !row_cover.at(row) &&
          !col_cover.at(col)) {
        return std::make_optional<std::pair<unsigned int, unsigned int> >(row, col);
      }
 
  return std::nullopt;
}
 
template <typename Type>
inline Type vpMunkres::findSmallest(const std::vector<std::vector<Type> > &costs, const std::vector<bool> &row_cover,
                                    const std::vector<bool> &col_cover)
{
  auto minval = std::numeric_limits<Type>::max();
  for (auto row = 0u; row < costs.size(); row++)
    for (auto col = 0u; col < costs.size(); col++)
      if (minval > costs.at(row).at(col) && !row_cover.at(row) && !col_cover.at(col)) {
        minval = costs.at(row).at(col);
      }
 
  return minval;
}
 
template <typename Type> inline vpMunkres::STEP_T vpMunkres::stepOne(std::vector<std::vector<Type> > &costs)
{
  // process rows
  std::for_each(begin(costs), end(costs), [](auto &cost_row) {
    const auto min_in_row = *std::min_element(begin(cost_row), end(cost_row));
    std::transform(begin(cost_row), end(cost_row), begin(cost_row),
                   [&min_in_row](auto &cost) { return cost - min_in_row; });
  });
 
  // process cols
  for (auto col = 0u; col < costs.size(); ++col) {
    auto minval = std::numeric_limits<Type>::max();
    for (const auto &cost_row : costs) {
      minval = std::min(minval, cost_row.at(col));
    }
 
    for (auto &cost_row : costs) {
      cost_row.at(col) -= minval;
    }
  }
 
  return vpMunkres::STEP_T(2);
}
 
template <typename Type>
inline vpMunkres::STEP_T vpMunkres::stepTwo(std::vector<std::vector<Type> > &costs,
                                            std::vector<std::vector<vpMunkres::ZERO_T> > &mask,
                                            std::vector<bool> &row_cover, std::vector<bool> &col_cover)
{
  for (auto row = 0u; row < costs.size(); row++) {
    for (auto col = 0u; col < costs.size(); col++) {
      if (vpMath::equal(costs.at(row).at(col), static_cast<Type>(vpMunkres::ZeroEpsilon)) && !row_cover.at(row) &&
          !col_cover.at(col)) {
        mask.at(row).at(col) = vpMunkres::ZERO_T::STARRED;
        row_cover.at(row) = true;
        col_cover.at(col) = true;
        break;
      }
    }
  }
 
  clearCovers(row_cover, col_cover);
  return vpMunkres::STEP_T(3);
}
 
template <typename Type>
inline std::tuple<vpMunkres::STEP_T, std::optional<std::pair<unsigned int, unsigned int> > >
vpMunkres::stepFour(const std::vector<std::vector<Type> > &costs, std::vector<std::vector<vpMunkres::ZERO_T> > &mask,
                    std::vector<bool> &row_cover, std::vector<bool> &col_cover)
{
  if (const auto zero = findAZero(costs, row_cover, col_cover)) {
    const auto [row, col] = *zero; // convenient zero.value() is not working on iOS
    mask.at(row).at(col) = vpMunkres::ZERO_T::PRIMED;
 
    if (const auto star_in_row = findStarInRow(mask, row)) {
      row_cover.at(row) = true;
      col_cover.at(*star_in_row) = false;
      return {vpMunkres::STEP_T(4), std::nullopt}; // Repeat
    } else {
      return {vpMunkres::STEP_T(5), std::make_optional<std::pair<unsigned int, unsigned int> >(row, col)};
    }
  } else {
    return {vpMunkres::STEP_T(6), std::nullopt};
  }
}
 
template <typename Type>
inline vpMunkres::STEP_T vpMunkres::stepSix(std::vector<std::vector<Type> > &costs, const std::vector<bool> &row_cover,
                                            const std::vector<bool> &col_cover)
{
  const auto minval = findSmallest(costs, row_cover, col_cover);
  for (auto row = 0u; row < costs.size(); row++) {
    for (auto col = 0u; col < costs.size(); col++) {
      if (row_cover.at(row)) {
        costs.at(row).at(col) += minval;
      }
 
      if (!col_cover.at(col)) {
        costs.at(row).at(col) -= minval;
      }
    }
  }
 
  return vpMunkres::STEP_T(4);
}
 
template <typename Type>
inline std::vector<std::pair<unsigned int, unsigned int> > vpMunkres::run(std::vector<std::vector<Type> > costs)
{
  const auto original_row_size = costs.size();
  const auto original_col_size = costs.front().size();
  const auto sq_size = std::max(original_row_size, original_col_size);
 
  auto mask = std::vector<std::vector<vpMunkres::ZERO_T> >(
      sq_size, std::vector<vpMunkres::ZERO_T>(sq_size, vpMunkres::ZERO_T::NA));
  auto row_cover = std::vector<bool>(sq_size, false);
  auto col_cover = std::vector<bool>(sq_size, false);
 
  std::optional<std::pair<unsigned int, unsigned int> > path_0{std::nullopt};
 
  auto step{vpMunkres::STEP_T::ENTRY};
  while (step != vpMunkres::STEP_T::DONE) {
    switch (step) {
    case vpMunkres::STEP_T::ENTRY:
      padCostMatrix(costs);
      step = vpMunkres::STEP_T(1);
      break;
    case 1:
      step = stepOne(costs);
      break;
    case 2:
      step = stepTwo(costs, mask, row_cover, col_cover);
      break;
    case 3:
      step = stepThree(mask, col_cover);
      break;
    case 4:
      std::tie(step, path_0) = stepFour(costs, mask, row_cover, col_cover);
      break;
    case 5:
      step = stepFive(mask, *path_0, row_cover, col_cover);
      break;
    case 6:
      step = stepSix(costs, row_cover, col_cover);
      break;
    case vpMunkres::STEP_T::DONE:
    default:
      break;
    }
  }
 
  // Compute the pairs
  std::vector<std::pair<unsigned int, unsigned int> > ret{};
  for (auto i = 0u; i < original_row_size; i++) {
    if (const auto it = std::find(begin(mask.at(i)), end(mask.at(i)), vpMunkres::ZERO_T::STARRED);
        it != end(mask.at(i))) {
      if (const unsigned int j = static_cast<unsigned int>(std::distance(begin(mask.at(i)), it));
          j < original_col_size) {
        ret.emplace_back(i, j);
      }
    }
  }
 
  return ret;
}
 
#endif