PSMTrainer.cpp

Go to the documentation of this file.

#include "trainer/PSMTrainer.h"

namespace SceneModel {
  
  PSMTrainer::PSMTrainer(const double pStaticBreakRatio, const double pTogetherRatio, const double pMaxAngleDeviation)
  : AbstractTrainer()
  {
    // Initilaize a source that translates ISM::ObjectSets.
    pbdSource = boost::shared_ptr<PbdSceneGraphSource>(new PbdSceneGraphSource());
    source = pbdSource;
    
    // Initialize the generator for building the tree using agglomerative clustering.
    // The heuristic used here is searching for stable relativ poses.
    boost::shared_ptr<HeuristicalTreeGenerator> gen(new HeuristicalTreeGenerator());
    boost::shared_ptr<AbstractHeuristic> heuristic(new DirectionRelationHeuristic(pStaticBreakRatio, pTogetherRatio, pMaxAngleDeviation));
    gen->addHeuristic(heuristic);
    generator = gen;
  }
  
  PSMTrainer::~PSMTrainer()
  {
  }


  void PSMTrainer::addSceneGraphMessages(std::vector<ISM::ObjectSetPtr> pMessages)
  {
    //BOOST_FOREACH(boost::shared_ptr<const ISM::ObjectSetPtr> pMessage, pMessages)
      pbdSource->addSceneGraphMessage(pMessages);
  }
  
}