TestSetGenerator.h

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#pragma once

#include <boost/random.hpp>
#include <boost/random/variate_generator.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/normal_distribution.hpp>

#include <ISM/utility/TableHelper.hpp>
#include <ISM/common_type/ObjectSet.hpp>

#include <topology_creator/TopologyCreator.h>

#include "learner/foreground/ocm/combinatorial_optimization/TopologyEvaluator.h"

#include "helper/PrintHelper.h"

namespace ProbabilisticSceneRecognition {
class TestSetGenerator {

public:
    TestSetGenerator(boost::shared_ptr<AbstractTopologyEvaluator> pEvaluator, boost::shared_ptr<SceneModel::Topology> pFullyMeshedTopology, const std::vector<std::string>& pObjectTypes);

    ~TestSetGenerator();

    void generateTestSets(std::vector<boost::shared_ptr<ISM::ObjectSet>> pExamplesList, unsigned int pTestSetCount);

private:

    void validateSets(std::vector<boost::shared_ptr<TestSet>> pTestSets);

    std::vector<boost::shared_ptr<TestSet>> loadTestSetsFromFile(const std::string& pFilename);

    void writeTestSetsToFile(const std::string& pFilename, const std::vector<boost::shared_ptr<TestSet>>& pTestSets);

    std::vector<boost::shared_ptr<TestSet>> simulateOcclusion(std::vector<boost::shared_ptr<TestSet>> pCompleteTestSets);

protected:

    virtual std::vector<boost::shared_ptr<TestSet>> generateRandomSets(std::vector<boost::shared_ptr<ISM::ObjectSet>> pExamplesList, unsigned int pTestSetCount) = 0;

    void setPoseOfObjectRelativeToReference(ISM::ObjectPtr pObject, ISM::ObjectPtr pReference);

private:

    boost::shared_ptr<AbstractTopologyEvaluator> mEvaluator;

    boost::shared_ptr<SceneModel::Topology> mFullyMeshedTopology;

    std::vector<boost::shared_ptr<TestSet>> mValidTestSets;

    std::vector<boost::shared_ptr<TestSet>> mInvalidTestSets;

    std::string mValidTestSetDbFilename;

    std::string mInvalidTestSetDbFilename;

    std::string mWriteValidTestSetsFilename;

    std::string mWriteInvalidTestSetsFilename;

    std::string mSceneId;

    double mObjectMissingInTestSetProbability;

protected:

    std::vector<std::string> mTypes;

    PrintHelper mPrintHelper;

};

}