RecognitionResult.cpp

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#include "RecognitionResult.hpp"

namespace ISM {

  u_int64_t RecognitionResult::getNumberOfCombinations()
  {

    if (this->numberOfCombinations > 0)
      {
        return this->numberOfCombinations;
      }

    /* compute number of combinations with the information from the child nodes */
    u_int64_t combiProduct = 1;
    for (SummarizedVotedPosePtr& summarizedVote : this->summarizedVotes)
      {        
        /* leaf? */
        if (summarizedVote.first->source->type.find("_sub") == std::string::npos)
          {
            combiProduct *= summarizedVote.second.first;
            continue;
          }

        /* sub-tree */
        u_int64_t combiSum = (this->subPatterns.size() > 0) ? 0 : 1;
        for(RecognitionResultPtr sub : this->subPatterns)
          {
            if(sub->patternName == summarizedVote.first->source->type)
              {
                combiSum += sub->getNumberOfCombinations();
              }
          }
        combiProduct *= summarizedVote.second.first * combiSum;
      }

    this->numberOfCombinations = combiProduct;
    return this->numberOfCombinations;
  }

  std::ostream& operator<<(std::ostream &strm, ISM::RecognitionResult &r) {
    strm << "recognition result: [pattern: " << r.patternName << "; confidence: " << r.confidence << "; combinations: " << r.getNumberOfCombinations() << "; " << r.referencePose << ";"
         << r.recognizedSet;
    size_t s = r.subPatterns.size();
    if (s > 0) {
      strm << ";sub patterns: [";
      size_t c = 1;
      for (RecognitionResultPtr& subPattern : r.subPatterns) {
        strm << subPattern;
        if (c < s) {
          strm << ",";
        }
        strm<<"\n";
        c++;
      }
      strm << "]";
    }
    return strm << "]";
  }

  std::ostream& operator<<(std::ostream &strm,  ISM::RecognitionResultPtr &r) {
    return strm << (*r);
  }

  bool operator==(const RecognitionResultPtr& recogRes1, const RecognitionResultPtr& recogRes2)
  {
      return *recogRes1 == *recogRes2;
  }

  bool operator==(const RecognitionResult& recogRes1, const RecognitionResult& recogRes2)
  {
      return recogRes1.patternName == recogRes2.patternName &&
              recogRes1.referencePose == recogRes2.referencePose &&
              std::fabs(recogRes1.confidence - recogRes2.confidence) < RecognitionResult::epsilon;
  }

}