OcclusionTermEvaluator.cpp

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#include "inference/model/foreground/ocm/occlusion/OcclusionTermEvaluator.h"

namespace ProbabilisticSceneRecognition {
 
  OcclusionTermEvaluator::OcclusionTermEvaluator()
  : TermEvaluator()
  {
    // Initialize pointer.
    mTable.reset(new ProbabilityTable());
  }
  
  OcclusionTermEvaluator::~OcclusionTermEvaluator()
  {
  }
  
  void OcclusionTermEvaluator::load(boost::property_tree::ptree& pPt)
  {
    // Load the probability table.
    mTable.reset(new ProbabilityTable(pPt.get_child("occlusion")));
  }
  
  void OcclusionTermEvaluator::initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior)
  {
    // Here is no visualization required.
  }

  double OcclusionTermEvaluator::calculateProbabilityForHypothesis(std::vector<ISM::Object> pEvidenceList, std::vector<unsigned int> pAssignments)
  {
    /**************************************************************************************************
     * Build an entry of the conditional joint distribution P(h) bases on the given hypothesis
     **************************************************************************************************/  
    
    // The occlusion probability based on the given hypothesis.
    // It will be calculated in this function.
    double result = 1.0;
   
    // If no part was assigned to the root node, we don't need to continue (because the model doesn't allow cases like this).
    if(pAssignments[0] > 0)
    {
      // The number of filled slots.
      unsigned int numberOfFilledSlots = 0;
      
      // Evaluate all slots with associated objects. Multiply their probability to the hypothesis probability.
      for(unsigned int slot = 0; slot < mTable->getNumberOfRows(); slot++)
      { 
        // Get the information whether or not a part is associated with the slot.
        unsigned int part = std::min(pAssignments[slot], (unsigned int) 1);
        
        // Get the probability for the given occlusion status of the given slot.
        result *= mTable->getProbability(slot, part);
        
        // Used to calculate the number of filled slots.
        if(pAssignments[slot] > 0)
          numberOfFilledSlots++;
      }
    } else {
      // A hypothesis without an assigned root object is invalid and will therefore be scored with the impossible event.
      result = 0.0;
    }
    
    // Return the probability for the given hypothesis.
    return result;
  }

  void OcclusionTermEvaluator::visualize(std::vector<ISM::Object> pEvidenceList)
  {
    // No visualization to update.
  }
  
  unsigned int OcclusionTermEvaluator::getNumberOfSlots()
  {
    return mTable->getNumberOfRows();
  }
  
}