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#include "match.h"
#include <string.h>
#include <stdio.h>
/**
* MATLAB implementation of the hungarian algorithm (2008)
*
* modified by Henrik Rydberg (2008)
*/
const float BIG_VALUE = 1e20;
typedef unsigned short col_t;
#define GETBIT2(m, row, col) ((m[col]>>(row))&1U)
#define SETBIT2(m, row, col) (m[col]|=(1U<<(row)))
#define CLEARBIT2(m, row, col) (m[col]&=~(1U<<(row)))
/********************************************************/
static void buildixvector(int *ix, col_t *mstar, int nrows, int ncols)
{
int row, col;
for (row = 0; row < nrows; row++) {
for (col = 0; col < ncols; col++) {
if (GETBIT2(mstar, row, col)) {
ix[row] = col;
break;
}
}
}
}
/********************************************************/
static void step2a(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin);
static void step2b(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin);
static void step3 (int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin);
static void step4 (int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin, int row, int col);
static void step5 (int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin);
static void ixoptimal(int *ix, float *mdist, int nrows, int ncols)
{
float *mdistTemp, *mdistEnd, *columnEnd, value, minValue;
int dmin, row, col;
col_t ccol,crow, mstar[DIM_FINGER],mprime[DIM_FINGER],nmstar[DIM_FINGER];
ccol = crow = 0;
memset(mstar, 0, sizeof(mstar));
memset(mprime, 0, sizeof(mprime));
memset(nmstar, 0, sizeof(nmstar));
/* initialization */
for(row=0; row<nrows; row++)
ix[row] = -1;
mdistEnd = mdist + nrows * ncols;
/* preliminary steps */
if(nrows <= ncols) {
dmin = nrows;
for(row=0; row<nrows; row++) {
/* find the smallest element in the row */
mdistTemp = mdist + row;
minValue = *mdistTemp;
mdistTemp += nrows;
while(mdistTemp < mdistEnd) {
value = *mdistTemp;
if(value < minValue)
minValue = value;
mdistTemp += nrows;
}
/* subtract the smallest element from each element of the row */
mdistTemp = mdist + row;
while(mdistTemp < mdistEnd) {
*mdistTemp -= minValue;
mdistTemp += nrows;
}
}
/* Steps 1 and 2a */
for(row=0; row<nrows; row++)
for(col=0; col<ncols; col++)
if(mdist[row + nrows*col] == 0)
if(!GETBIT(ccol, col)) {
SETBIT2(mstar, row, col);
SETBIT(ccol, col);
break;
}
}
else /* if(nrows > ncols) */
{
dmin = ncols;
for(col=0; col<ncols; col++)
{
/* find the smallest element in the column */
mdistTemp = mdist + nrows*col;
columnEnd = mdistTemp + nrows;
minValue = *mdistTemp++;
while(mdistTemp < columnEnd)
{
value = *mdistTemp++;
if(value < minValue)
minValue = value;
}
/* subtract the smallest element from each element of the column */
mdistTemp = mdist + nrows*col;
while(mdistTemp < columnEnd)
*mdistTemp++ -= minValue;
}
/* Steps 1 and 2a */
for(col=0; col<ncols; col++)
for(row=0; row<nrows; row++)
if(mdist[row + nrows*col] == 0)
if(!GETBIT(crow, row))
{
SETBIT2(mstar, row, col);
SETBIT(ccol, col);
SETBIT(crow, row);
break;
}
for(row=0; row<nrows; row++)
CLEARBIT(crow, row);
}
/* move to step 2b */
step2b(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
/********************************************************/
static void step2a(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin)
{
int col, row;
/* cover every column containing a starred zero */
for(col=0; col<ncols; col++) {
for(row=col;row<nrows;row++) {
if(GETBIT2(mstar, row, col)) {
SETBIT(ccol, col);
break;
}
}
}
/* move to step 3 */
step2b(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
/********************************************************/
static void step2b(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin)
{
int col, ncc;
/* count covered columns */
ncc = 0;
for(col=0; col<ncols; col++)
if(GETBIT(ccol, col))
ncc++;
if(ncc == dmin)
{
/* algorithm finished */
buildixvector(ix, mstar, nrows, ncols);
}
else
{
/* move to step 3 */
step3(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
}
/********************************************************/
static void step3(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin)
{
bool zerosFound;
int row, col, cstar;
zerosFound = 1;
while(zerosFound)
{
zerosFound = 0;
for(col=0; col<ncols; col++)
if(!GETBIT(ccol,col))
for(row=0; row<nrows; row++)
if((!GETBIT(crow,row)) && (mdist[row + nrows*col] == 0))
{
/* prime zero */
SETBIT2(mprime, row, col);
/* find starred zero in current row */
for(cstar=0; cstar<ncols; cstar++)
if(GETBIT2(mstar, row, cstar))
break;
if(cstar == ncols) /* no starred zero found */
{
/* move to step 4 */
step4(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin, row, col);
return;
}
else
{
SETBIT(crow, row);
CLEARBIT(ccol,cstar);
zerosFound = 1;
break;
}
}
}
/* move to step 5 */
step5(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
/********************************************************/
static void step4(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin, int row, int col)
{
int n, rstar, cstar, primeRow, primeCol;
/* generate temporary copy of mstar */
memcpy(nmstar, mstar, sizeof(mstar));
/* star current zero */
SETBIT2(nmstar, row, col);
/* find starred zero in current column */
cstar = col;
for(rstar=0; rstar<nrows; rstar++)
if(GETBIT2(mstar, rstar, cstar))
break;
while(rstar<nrows)
{
/* unstar the starred zero */
CLEARBIT2(nmstar, rstar, cstar);
/* find primed zero in current row */
primeRow = rstar;
for(primeCol=0; primeCol<ncols; primeCol++)
if(GETBIT2(mprime, primeRow, primeCol))
break;
/* star the primed zero */
SETBIT2(nmstar, primeRow, primeCol);
/* find starred zero in current column */
cstar = primeCol;
for(rstar=0; rstar<nrows; rstar++)
if(GETBIT2(mstar, rstar, cstar))
break;
}
/* use temporary copy as new mstar */
/* delete all primes, uncover all rows */
memset(mprime, 0, sizeof(mprime));
memcpy(mstar, nmstar, sizeof(nmstar));
crow = 0;
/* move to step 2a */
step2a(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
/********************************************************/
static void step5(int *ix, float *mdist, col_t *mstar, col_t *nmstar, col_t *mprime, col_t ccol, col_t crow, int nrows, int ncols, int dmin)
{
float h, value;
int row, col;
/* find smallest uncovered element h */
h = BIG_VALUE;
for(row=0; row<nrows; row++)
if(!GETBIT(crow, row))
for(col=0; col<ncols; col++)
if(!GETBIT(ccol,col))
{
value = mdist[row + nrows*col];
if(value < h)
h = value;
}
/* add h to each covered row */
for(row=0; row<nrows; row++)
if(GETBIT(crow, row))
for(col=0; col<ncols; col++)
mdist[row + nrows*col] += h;
/* subtract h from each uncovered column */
for(col=0; col<ncols; col++)
if(!GETBIT(ccol,col))
for(row=0; row<nrows; row++)
mdist[row + nrows*col] -= h;
/* move to step 3 */
step3(ix, mdist, mstar, nmstar, mprime, ccol, crow, nrows, ncols, dmin);
}
////////////////////////////////////////////////////////
void match_fingers(int ix[DIM_FINGER], float A[DIM2_FINGER], int nrow, int ncol)
{
ixoptimal(ix, A, nrow, ncol);
}
////////////////////////////////////////////////////////
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