#include <TestSetGenerator.h>

Inheritance diagram for ProbabilisticSceneRecognition::TestSetGenerator:

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

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

	~TestSetGenerator ()

Protected Member Functions
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)

Protected Attributes
PrintHelper	mPrintHelper

std::vector< std::string >	mTypes

Private Member Functions
std::vector< boost::shared_ptr< TestSet > >	loadTestSetsFromFile (const std::string &pFilename)

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

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

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

Private Attributes
boost::shared_ptr< AbstractTopologyEvaluator >	mEvaluator

boost::shared_ptr< SceneModel::Topology >	mFullyMeshedTopology

std::string	mInvalidTestSetDbFilename

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

double	mObjectMissingInTestSetProbability

std::string	mSceneId

std::string	mValidTestSetDbFilename

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

std::string	mWriteInvalidTestSetsFilename

std::string	mWriteValidTestSetsFilename

Detailed Description

Generates random evidence test sets.

Definition at line 39 of file TestSetGenerator.h.

Constructor & Destructor Documentation

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

Constructor

Parameters

pEvaluator	evaluator used to validate test sets.
pFullyMeshedTopology	fully meshed topology used to validate test sets.
pObjectTypes	types of objects appearing in test sets (once each).

Definition at line 22 of file TestSetGenerator.cpp.

ProbabilisticSceneRecognition::TestSetGenerator::~TestSetGenerator ( )

Desctructor.

Definition at line 46 of file TestSetGenerator.cpp.

Member Function Documentation

virtual std::vector<boost::shared_ptr<TestSet> > ProbabilisticSceneRecognition::TestSetGenerator::generateRandomSets	(	std::vector< boost::shared_ptr< ISM::ObjectSet >>	pExamplesList,
		unsigned int	pTestSetCount
	)

protectedpure virtual

Generate random test sets.

Parameters

pExamplesList	list of object observations serving as basis of the test sets.
pTestSetCount	number of test sets to generate.

Implemented in ProbabilisticSceneRecognition::AbsoluteTestSetGenerator, ProbabilisticSceneRecognition::ReferenceTestSetGenerator, and ProbabilisticSceneRecognition::RelativeTestSetGenerator.

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

Generate and validate random test sets. Set evaluator's sets accordingly.

Parameters

pExamplesList	list of object observations serving as basis of the test sets.
pTestSetCount	number of test sets to generate.

Definition at line 49 of file TestSetGenerator.cpp.

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

private

Load test sets from database file.

Parameters

filename of the database file.

Returns: the test sets loaded from the file.

Definition at line 140 of file TestSetGenerator.cpp.

void ProbabilisticSceneRecognition::TestSetGenerator::setPoseOfObjectRelativeToReference	(	ISM::ObjectPtr	pObject,
		ISM::ObjectPtr	pReference
	)

protected

Set the pose of a given object relative to a reference object.

Parameters

pObject	the object to have its pose transformed.
pReference	the reference object.

Definition at line 133 of file TestSetGenerator.cpp.

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

private

Simulate Occlusion of objects by cutting them from the test sets with a certain probability.

Parameters

pCompleteTestSets The test sets containing all objects each.

Returns: Tets sets with missing objects.

Definition at line 196 of file TestSetGenerator.cpp.

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

private

Validate whether test sets represent scene.

Parameters

pTestSets the test sets to validate.

Definition at line 79 of file TestSetGenerator.cpp.

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

private

Write generated tets sets to database file.

Parameters

filename	of the database file.
testSets	the test sets to write to file

Definition at line 174 of file TestSetGenerator.cpp.

Member Data Documentation

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

private

Evaluator used to validate test sets.

Definition at line 112 of file TestSetGenerator.h.

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

private

Fully meshed topology used to validate test sets.

Definition at line 117 of file TestSetGenerator.h.

std::string ProbabilisticSceneRecognition::TestSetGenerator::mInvalidTestSetDbFilename

private

Database file to load the invalid test sets from. New test sets are created if this is set to ''.

Definition at line 137 of file TestSetGenerator.h.

std::vector<boost::shared_ptr<TestSet> > ProbabilisticSceneRecognition::TestSetGenerator::mInvalidTestSets

private

The test sets that resemble but do not represent the considered scene.

Definition at line 127 of file TestSetGenerator.h.

double ProbabilisticSceneRecognition::TestSetGenerator::mObjectMissingInTestSetProbability

private

Probability with which an object does not appear in a test set. set to 0 to have all objects appear in each test set

Definition at line 157 of file TestSetGenerator.h.

PrintHelper ProbabilisticSceneRecognition::TestSetGenerator::mPrintHelper

protected

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

Definition at line 169 of file TestSetGenerator.h.

std::string ProbabilisticSceneRecognition::TestSetGenerator::mSceneId

private

ID of the scene to be learned.

Definition at line 152 of file TestSetGenerator.h.

std::vector<std::string> ProbabilisticSceneRecognition::TestSetGenerator::mTypes

protected

Types of objects appearing in test sets (once each).

Definition at line 164 of file TestSetGenerator.h.

std::string ProbabilisticSceneRecognition::TestSetGenerator::mValidTestSetDbFilename

private

Database file to load the valid test sets from. New test sets are created if this is set to ''.

Definition at line 132 of file TestSetGenerator.h.

std::vector<boost::shared_ptr<TestSet> > ProbabilisticSceneRecognition::TestSetGenerator::mValidTestSets

private

The test sets which represent the considered scene.

Definition at line 122 of file TestSetGenerator.h.

std::string ProbabilisticSceneRecognition::TestSetGenerator::mWriteInvalidTestSetsFilename

private

Database file to write newly created invalid testsets to. Test sets are not written if they were loaded from files or this parameter is set to ''.

Definition at line 147 of file TestSetGenerator.h.

std::string ProbabilisticSceneRecognition::TestSetGenerator::mWriteValidTestSetsFilename

private

Database file to write newly created valid testsets to. Test sets are not written if they were loaded from files or this parameter is set to ''.

Definition at line 142 of file TestSetGenerator.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation