Tree.hpp

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#pragma once
#include <boost/shared_ptr.hpp>

#include "typedef.hpp"
#include "Cluster.hpp"
#include "common_type/Track.hpp"
#include "common_type/VoteSpecifier.hpp"
#include "ImplicitShapeModel.hpp"

#include "utility/LogHelper.hpp"

namespace ISM
{

class Tree
{
        public:
                Tree(TrackPtr reference) : reference(reference), height(0), weight(1)
                {
                        this->reference = TrackPtr(new Track(*reference));
                }

                Tree(const std::string &pattern, ObjectRelations topology, bool naive = false);
                void addChild(const boost::shared_ptr<Tree>& child);
                void setHeight(unsigned height);
                unsigned getHeight();
                void setWeight(unsigned weight);
                unsigned getWeight();
                void addVotes(const std::string& voterType, const std::vector<VoteSpecifierPtr>& votes);
                std::vector<VoteSpecifierPtr> getVotesByType(const std::string& type);
                TrackPtr getReference();
                IsmPtr getISM();
                void setISM(IsmPtr ism);

        private:
                Tree(std::string pattern, unsigned clusterId, const TrackPtr reference, std::vector<ClusterPtr>& clustersLeft, const std::vector<ClusterPtr>& allClusters, IsmPtr& ism, bool naive);

                void build(std::string pattern, unsigned clusterId, const TrackPtr reference, std::vector<ClusterPtr>& clustersLeft, const std::vector<ClusterPtr>& allClusters, IsmPtr& ism, bool naive);
                TreePtr generateTree(const std::string& pattern, const TrackPtr& reference, std::vector<ClusterPtr> clusters, bool naive = false);
                std::vector<VoteSpecifierPtr> generateISM(ISM::ObjectRelations);
                std::vector<ClusterPtr> buildClusters(ISM::ObjectRelations) const;
                std::pair<std::map<ISM::TrackPtr, int> , std::vector<std::pair<int, ISM::TrackPtr > > > getMostCommonObjects(const ISM::ObjectRelations& topology) const;
                std::pair<TrackPtr, ClusterPtr> getReference(std::vector<std::pair<int, TrackPtr> >& objectTracks, const std::vector<ClusterPtr>& currentClusters, const ObjectRelations& topology) const;
                static bool compareClusters(const ClusterPtr& one, const ClusterPtr& two);
                template <typename T> static bool pairCompare(const std::pair<unsigned, T>& firstElem, const std::pair<unsigned, T>& secondElem);


                const char* LOG_COLOR_TREE = LogHelper::LOG_COLOR_GREEN;
                const char* LOG_COLOR_CLUSTER = LogHelper::LOG_COLOR_MAGENTA;

                TrackPtr reference;
                std::vector<boost::shared_ptr<Tree> > children;
                unsigned height;
                unsigned weight;
                std::map<std::string, std::vector<VoteSpecifierPtr> > votesByVotersType;
                IsmPtr ism;

};

}