#include <CombinatorialOptimizer.h>

Public Member Functions
	CombinatorialOptimizer (std::vector< boost::shared_ptr< SceneObjectLearner >> pLearners, std::vector< std::string > pObjectTypes, std::vector< boost::shared_ptr< ISM::ObjectSet >> pExamplesList)

boost::shared_ptr< SceneModel::Topology >	runOptimization ()

	~CombinatorialOptimizer ()

Private Member Functions
void	initCostFunction (const std::string &pType)

void	initFullyMeshedTopologyAndFilterLoadedTestSets ()

void	initNeighbourhoodFunction (const std::string &pType)

void	initOptimizationAlgorithm (const std::string &pType)

void	initStartingTopologies (unsigned int pNumberOfStartingTopologies, const std::string &pStartingTopologiesType)

void	initStarTopologies ()

void	initTestSets (const std::vector< std::string > &pObjectTypes, const std::vector< boost::shared_ptr< ISM::ObjectSet >> &pExamplesList)

void	optimize (boost::shared_ptr< SceneModel::Topology > pStartingTopology, unsigned int pStartingTopologyNumber)

Private Attributes
boost::shared_ptr< SceneModel::Topology >	mBestOptimizedTopology

boost::shared_ptr< ISM::CostFunction< boost::shared_ptr< SceneModel::Topology > > >	mCostFunction

boost::shared_ptr< AbstractTopologyEvaluator >	mEvaluator

boost::shared_ptr< SceneModel::Topology >	mFullyMeshedTopology

int	mLoadedTestSetCount

double	mMaxAverageRecognitionRuntime

unsigned int	mMaxFalseNegatives

unsigned int	mMaxFalsePositives

bool	mMaxFNInitialized

bool	mMaxFPInitialized

bool	mMaxTimeInitialized

double	mMinAverageRecognitionRuntime

unsigned int	mMinFalseNegatives

unsigned int	mMinFalsePositives

bool	mMinFNInitialized

bool	mMinFPInitialized

bool	mMinTimeInitialized

boost::shared_ptr< ISM::NeighbourhoodFunction< boost::shared_ptr< SceneModel::Topology > > >	mNeighbourhoodFunction

ros::NodeHandle	mNodeHandle

boost::shared_ptr< ISM::OptimizationAlgorithm< boost::shared_ptr< SceneModel::Topology > > >	mOptimizationAlgorithm

PrintHelper	mPrintHelper

double	mRandomRestartProbability

double	mRecognitionThreshold

std::vector< boost::shared_ptr< SceneModel::Topology > >	mStartingTopologies

std::vector< boost::shared_ptr< SceneModel::Topology > >	mStarTopologies

int	mTestSetCount

boost::shared_ptr< TopologyManager >	mTopologyManager

bool	mUseFlexibleRecognitionThreshold

boost::shared_ptr< SceneModel::Topology >	mWorstStarIfRequested

Detailed Description

Uses combinatorial optimization to train a relation graph that is optimal considering false negatives and average recognition runtime on random test sets.

Definition at line 48 of file CombinatorialOptimizer.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::CombinatorialOptimizer::CombinatorialOptimizer	(	std::vector< boost::shared_ptr< SceneObjectLearner >>	pLearners,
		std::vector< std::string >	pObjectTypes,
		std::vector< boost::shared_ptr< ISM::ObjectSet >>	pExamplesList
	)

Constructor.

Parameters

pLearners	The learners to be used to learn OCM models for the relation graphs considered.
pObjectTypes	All possible object types appearing in the relation graphs (once each)
pExamplesList	The list of evidences to train on.

Definition at line 23 of file CombinatorialOptimizer.cpp.

ProbabilisticSceneRecognition::CombinatorialOptimizer::~CombinatorialOptimizer ( )

Destructor.

Definition at line 160 of file CombinatorialOptimizer.cpp.

Member Function Documentation

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initCostFunction ( const std::string & pType )

private

Initialize the cost function used to judge topologies.

Parameters

pType type of the cost function to be used: only "WeightedSum".

Definition at line 371 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initFullyMeshedTopologyAndFilterLoadedTestSets ( )

private

Initialize the fully meshed topology used to divide the test sets into valid and invalid ones and find the worst recognition runtime. Also deals with loaded test sets, if those were not created by the program.

Definition at line 250 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initNeighbourhoodFunction ( const std::string & pType )

private

Initialize neighbourhood function used to generate neighbours of currently selected topology during optimizations.

Parameters

pType type of the neighbourhood function to be used: only "TopologyManager".

Definition at line 400 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initOptimizationAlgorithm ( const std::string & pType )

private

Initialize optimization algorithm to be used.

Parameters

pType type of the optimization algorithm to be used: from "HillClimbing", "RecordHunt", "SimulatedAnnealing".

Definition at line 410 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initStartingTopologies	(	unsigned int	pNumberOfStartingTopologies,
		const std::string &	pStartingTopologiesType
	)

private

Initialize starting topologies to perform optimization from.

Parameters

pNumberOfStartingTopologies	number of starting topologies to initialize.
pStartingTopologiesType	type of algorithm to use to generate starting topologies.

Definition at line 337 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initStarTopologies ( )

private

Initialize the star topologies used to find the worst false positive numbers and fastest average runtimes.

Definition at line 300 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::initTestSets	(	const std::vector< std::string > &	pObjectTypes,
		const std::vector< boost::shared_ptr< ISM::ObjectSet >> &	pExamplesList
	)

private

Initialize a test set generator and set evaluator test sets.

Parameters

pObjectTypes	All possible object types appearing in the relation graphs (once each)
pExamplesList	The list of evidences to train on.

Definition at line 208 of file CombinatorialOptimizer.cpp.

void ProbabilisticSceneRecognition::CombinatorialOptimizer::optimize	(	boost::shared_ptr< SceneModel::Topology >	pStartingTopology,
		unsigned int	pStartingTopologyNumber
	)

private

optimize from the given topology. Sets new mBestOptimizedTopology if a better one has been found.

Parameters

pStartingTopology	to optimize from.
pStartingTopologyNumber	the number of the starting topology, for output.

Definition at line 475 of file CombinatorialOptimizer.cpp.

boost::shared_ptr< SceneModel::Topology > ProbabilisticSceneRecognition::CombinatorialOptimizer::runOptimization ( )

Perform optimization.

Returns: the optimized relation graph topology.

Definition at line 163 of file CombinatorialOptimizer.cpp.

Member Data Documentation

boost::shared_ptr<SceneModel::Topology> ProbabilisticSceneRecognition::CombinatorialOptimizer::mBestOptimizedTopology

private

The best topology considered so far.

Definition at line 205 of file CombinatorialOptimizer.h.

boost::shared_ptr<ISM::CostFunction<boost::shared_ptr<SceneModel::Topology> > > ProbabilisticSceneRecognition::CombinatorialOptimizer::mCostFunction

private

The cost function used to judge topologies.

Definition at line 153 of file CombinatorialOptimizer.h.

boost::shared_ptr<AbstractTopologyEvaluator> ProbabilisticSceneRecognition::CombinatorialOptimizer::mEvaluator

private

Evaluator used to check the learned models of the topologies against the test sets.

Definition at line 148 of file CombinatorialOptimizer.h.

boost::shared_ptr<SceneModel::Topology> ProbabilisticSceneRecognition::CombinatorialOptimizer::mFullyMeshedTopology

private

fully meshed topology for all given object types.

Definition at line 138 of file CombinatorialOptimizer.h.

int ProbabilisticSceneRecognition::CombinatorialOptimizer::mLoadedTestSetCount

private

How many test sets loaded from the database to use at first. Reduced to test_set_count later, but since some loaded sets may be misclassified and removed, it can be useful to load more than test_set_count.

Definition at line 237 of file CombinatorialOptimizer.h.

double ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxAverageRecognitionRuntime

private

Maximum average recognition runtime. All topologies with average runtimes above can be replaced by the fully meshed one, which has no false positives.

Definition at line 196 of file CombinatorialOptimizer.h.

unsigned int ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxFalseNegatives

private

Maximum number of false negatives. All topologies with more can be replaced with a star topology, which will be faster.

Definition at line 191 of file CombinatorialOptimizer.h.

unsigned int ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxFalsePositives

private

Maximum number of false positives. All topologies with more can be replaced with a star topology, which will be faster.

Definition at line 186 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxFNInitialized

private

Definition at line 200 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxFPInitialized

private

Definition at line 200 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMaxTimeInitialized

private

Definition at line 200 of file CombinatorialOptimizer.h.

double ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinAverageRecognitionRuntime

private

Minimum average recognition runtime.

Definition at line 181 of file CombinatorialOptimizer.h.

unsigned int ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinFalseNegatives

private

Minimum number of false negatives. Set to 0.

Definition at line 177 of file CombinatorialOptimizer.h.

unsigned int ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinFalsePositives

private

Minimum number of false positives. Set to 0.

Definition at line 173 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinFNInitialized

private

Definition at line 200 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinFPInitialized

private

Whether the maxima and minima have been properly initialized yet.

Definition at line 200 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mMinTimeInitialized

private

Definition at line 200 of file CombinatorialOptimizer.h.

boost::shared_ptr<ISM::NeighbourhoodFunction<boost::shared_ptr<SceneModel::Topology> > > ProbabilisticSceneRecognition::CombinatorialOptimizer::mNeighbourhoodFunction

private

Neighbourhood function used to generate neighbours of currently selected topology during optimizations.

Definition at line 163 of file CombinatorialOptimizer.h.

ros::NodeHandle ProbabilisticSceneRecognition::CombinatorialOptimizer::mNodeHandle

private

Handle to ros node for parameter access.

Definition at line 128 of file CombinatorialOptimizer.h.

boost::shared_ptr<ISM::OptimizationAlgorithm<boost::shared_ptr<SceneModel::Topology> > > ProbabilisticSceneRecognition::CombinatorialOptimizer::mOptimizationAlgorithm

private

Optimization algorithm to be used.

Definition at line 168 of file CombinatorialOptimizer.h.

PrintHelper ProbabilisticSceneRecognition::CombinatorialOptimizer::mPrintHelper

private

Class used to print lines as headers, marked with dividers.

Definition at line 226 of file CombinatorialOptimizer.h.

double ProbabilisticSceneRecognition::CombinatorialOptimizer::mRandomRestartProbability

private

Probability that, in HillClimbing, a random restart is performed. Set to 0 for all other algorithms.

Definition at line 216 of file CombinatorialOptimizer.h.

double ProbabilisticSceneRecognition::CombinatorialOptimizer::mRecognitionThreshold

private

The probability above which a test set is considered as valid.

Definition at line 242 of file CombinatorialOptimizer.h.

std::vector<boost::shared_ptr<SceneModel::Topology> > ProbabilisticSceneRecognition::CombinatorialOptimizer::mStartingTopologies

private

Starting topologies to perform optimization from.

Definition at line 143 of file CombinatorialOptimizer.h.

std::vector<boost::shared_ptr<SceneModel::Topology> > ProbabilisticSceneRecognition::CombinatorialOptimizer::mStarTopologies

private

list of all star topologies for the given object types.

Definition at line 133 of file CombinatorialOptimizer.h.

int ProbabilisticSceneRecognition::CombinatorialOptimizer::mTestSetCount

private

How many test sets to use in optimization.

Definition at line 231 of file CombinatorialOptimizer.h.

boost::shared_ptr<TopologyManager> ProbabilisticSceneRecognition::CombinatorialOptimizer::mTopologyManager

private

Topology Manager used to get fully meshed, star and starting topologies. If parameter "neighbourhood_function" from yaml is set to "TopologyManager", also used as neighbourhood function for optimization.

Definition at line 159 of file CombinatorialOptimizer.h.

bool ProbabilisticSceneRecognition::CombinatorialOptimizer::mUseFlexibleRecognitionThreshold

private

When test sets are loaded from a file, set this to true to select the recognition threshold based on the test sets.

Definition at line 221 of file CombinatorialOptimizer.h.

boost::shared_ptr<SceneModel::Topology> ProbabilisticSceneRecognition::CombinatorialOptimizer::mWorstStarIfRequested

private

The worst star topology. This pointer only gets set when it was requested via parameter get_worst_star_topology that only star topologies are compared (for testing purposes).

Definition at line 211 of file CombinatorialOptimizer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation