FullyMeshedGenerator.cpp

Go to the documentation of this file.

#include "trainer/generator/fully_meshed/FullyMeshedGenerator.h"
#include <ros/ros.h>

namespace SceneModel {

FullyMeshedGenerator::FullyMeshedGenerator()
: AbstractGraphGenerator()
{
}

FullyMeshedGenerator::~FullyMeshedGenerator()
{
}

void FullyMeshedGenerator::buildTree(ObjectSetList pObjectSets, boost::shared_ptr<TreeNode>& pRoot)
{
    buildTree(pObjectSets, pRoot, pObjectSets.mObjectSets.at(0)->objects.at(0)->type);
}

void FullyMeshedGenerator::buildTree(ObjectSetList pTrajectories, boost::shared_ptr<TreeNode>& pRoot, std::string pType)
{
    std::vector<std::string> types;
    for (boost::shared_ptr<ISM::ObjectSet> set: pTrajectories.mObjectSets)
    {
        types.push_back(set->objects.at(0)->type);
    }

    TopologyCreator tc(types, 100, true, true);
    TopologyTreeTrainer ttt(tc.generateFullyMeshedTopology()->mRelations);
    ttt.addSceneGraphMessages(pTrajectories.mObjectSets);
    ttt.loadTrajectoriesAndBuildTree(pType);
    pRoot = ttt.getTree();
    pRoot->setIDs();
}

}