#include <ros/package.h>
#include <boost/filesystem/path.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <ISM/utility/TableHelper.hpp>
#include "learner/SceneLearningEngine.h"
#include "inference/model/SceneModelDescription.h"
#include <sys/time.h>
#include <string>
#include <chrono>
#include <vector>
#include <random>
#include <algorithm>

Include dependency graph for performanceTester.cpp:

Classes
struct	PerformanceEvaluationResult

Functions
double	calculateStandardDeviation (const std::vector< double > &values, const double &average)

void	createHistogram (const std::vector< double > &values, const unsigned int intervals, const std::string &fileName)

PerformanceEvaluationResult	evaluate (const std::vector< ObjectSetPtr > &ts, bool valid, const std::string &patternName, const std::string &trainedScenePath)

void	initRandomScenes ()

void	initTestSets ()

std::vector< ObjectSetPtr >	loadTestSetsFromDB (std::string fileName, std::string patternName)

int	main (int argc, char *argv[])

void	runOptimization (std::ostringstream &os)

void	setDefaultParameters ()

void	testPerformance ()

void	trainScenes (unsigned int run)

void	writeFile (const std::string &directoryPath, const std::string &filenName, std::ostringstream &content)

Variables
std::vector< std::string >	demoRecordings

std::vector< std::string >	demoRecordingsNames

std::string	frameId

std::string	inferenceAlgorithm = "maximum"

std::string	invalidTestSetPref = "invalidValidationSets_"

std::vector< unsigned >	objectCounts

std::string	optimizationAlgorithm = "RecordHunt"

std::string	outputPath

double	recognitionThreshold = 1.0e-04

double	scale

double	sigma

bool	test = !train

std::string	testSetFolder = "ValidationSets"

std::string	testSetFolderNoRefs = "TestSetsNoRefs"

std::vector< std::string >	testSets

std::vector< std::string >	testSetsNoRefs

std::vector< unsigned >	timestepCounts

bool	train = false

std::string	treeAlgorithm = "fullymeshed"

std::string	validTestSetPref = "validValidationSets_"

Function Documentation

◆ calculateStandardDeviation()

double calculateStandardDeviation	(	const std::vector< double > &	values,
		const double &	average
	)

Definition at line 163 of file performanceTester.cpp.

◆ createHistogram()

void createHistogram	(	const std::vector< double > &	values,
		const unsigned int	intervals,
		const std::string &	fileName
	)

Definition at line 176 of file performanceTester.cpp.

◆ evaluate()

PerformanceEvaluationResult evaluate	(	const std::vector< ObjectSetPtr > &	ts,
		bool	valid,
		const std::string &	patternName,
		const std::string &	trainedScenePath
	)

Definition at line 341 of file performanceTester.cpp.

◆ initRandomScenes()

void initRandomScenes ( )

Definition at line 240 of file performanceTester.cpp.

◆ initTestSets()

void initTestSets ( )

Definition at line 255 of file performanceTester.cpp.

◆ loadTestSetsFromDB()

std::vector<ObjectSetPtr> loadTestSetsFromDB	(	std::string	fileName,
		std::string	patternName
	)

Definition at line 306 of file performanceTester.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

This program serves to test training and recognition performance of asr_psm. Note that it does not generate test sets (for learning) and validation sets (for recognition) on its own. Generate them using the standard combinatorial optimization launch file with quit_after_test_set_generation set to true and the same parameters as below. Write the databases to asr_psm/data/test/performanceTestRessources/[ValidationSets/]demoRecording_X_Y00.sqlite with X from objectCounts, Y from timestepCounts below. Also note that training will, unless stopped earlier, perform 1000 runs while cycling through the different algorithms, so the comparably long tests can be run mostly automated. Errors are tolerated and marked in the results, again to allow it to run without needing constant supervision. The recognition tests have to be run one each, but they are also usually much quicker.

Definition at line 518 of file performanceTester.cpp.

◆ runOptimization()

void runOptimization ( std::ostringstream & os )

Definition at line 210 of file performanceTester.cpp.

◆ setDefaultParameters()

void setDefaultParameters ( )

Definition at line 61 of file performanceTester.cpp.

◆ testPerformance()

void testPerformance ( )

Definition at line 415 of file performanceTester.cpp.

◆ trainScenes()

void trainScenes ( unsigned int run )

Definition at line 272 of file performanceTester.cpp.

◆ writeFile()

void writeFile	(	const std::string &	directoryPath,
		const std::string &	filenName,
		std::ostringstream &	content
	)

Definition at line 143 of file performanceTester.cpp.

Variable Documentation

◆ demoRecordings

std::vector<std::string> demoRecordings

Definition at line 46 of file performanceTester.cpp.

◆ demoRecordingsNames

std::vector<std::string> demoRecordingsNames

Definition at line 47 of file performanceTester.cpp.

◆ frameId

std::string frameId

Definition at line 59 of file performanceTester.cpp.

◆ inferenceAlgorithm

std::string inferenceAlgorithm = "maximum"

Definition at line 51 of file performanceTester.cpp.

◆ invalidTestSetPref

std::string invalidTestSetPref = "invalidValidationSets_"

Definition at line 40 of file performanceTester.cpp.

◆ objectCounts

std::vector<unsigned> objectCounts

Initial value:

= {
    3, 4, 5
}

Definition at line 28 of file performanceTester.cpp.

◆ optimizationAlgorithm

std::string optimizationAlgorithm = "RecordHunt"

Definition at line 53 of file performanceTester.cpp.

◆ outputPath

std::string outputPath

Definition at line 41 of file performanceTester.cpp.

◆ recognitionThreshold

double recognitionThreshold = 1.0e-04

Definition at line 49 of file performanceTester.cpp.

◆ scale

double scale

Definition at line 58 of file performanceTester.cpp.

◆ sigma

double sigma

Definition at line 58 of file performanceTester.cpp.

◆ test

bool test = !train

Definition at line 56 of file performanceTester.cpp.

◆ testSetFolder

std::string testSetFolder = "ValidationSets"

Definition at line 36 of file performanceTester.cpp.

◆ testSetFolderNoRefs

std::string testSetFolderNoRefs = "TestSetsNoRefs"

Definition at line 37 of file performanceTester.cpp.

◆ testSets

std::vector<std::string> testSets

Definition at line 43 of file performanceTester.cpp.

◆ testSetsNoRefs

std::vector<std::string> testSetsNoRefs

Definition at line 44 of file performanceTester.cpp.

◆ timestepCounts

std::vector<unsigned> timestepCounts