AbsoluteTestSetGenerator.cpp

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#include "learner/foreground/ocm/combinatorial_optimization/AbsoluteTestSetGenerator.h"

namespace ProbabilisticSceneRecognition {

AbsoluteTestSetGenerator::AbsoluteTestSetGenerator(boost::shared_ptr<AbstractTopologyEvaluator> pEvaluator, boost::shared_ptr<SceneModel::Topology> pFullyMeshedTopology, const std::vector<std::string>& pObjectTypes):
    TestSetGenerator(pEvaluator, pFullyMeshedTopology, pObjectTypes)
{ }

AbsoluteTestSetGenerator::~AbsoluteTestSetGenerator()
{ }

std::vector<boost::shared_ptr<TestSet>> AbsoluteTestSetGenerator::generateRandomSets(std::vector<boost::shared_ptr<ISM::ObjectSet>> pExamplesList, unsigned int pTestSetCount)
{
    TestSetGenerator::mPrintHelper.printAsHeader("Generating " + boost::lexical_cast<std::string>(pTestSetCount) + " random test sets.");

    std::random_device rd;
    boost::mt19937  eng;    // Mersenne Twister
    eng.seed(rd());
    boost::uniform_int<> dist(0,RAND_MAX);  // Normal Distribution
    boost::variate_generator<boost::mt19937,boost::uniform_int<>>  gen(eng,dist);  // Variate generator

    ROS_INFO_STREAM("Found " << TestSetGenerator::mTypes.size() << " object types.");

    std::vector<boost::shared_ptr<TestSet>> testSets(pTestSetCount);

    for (unsigned int i = 0; i < pTestSetCount; i++)
    {
        testSets[i].reset(new TestSet());
        for (std::string objectType: mTypes)
        {
            ISM::ObjectPtr object;

            unsigned int counter = 0;
            while (!object && counter < pExamplesList.size())   // does not iterate over all timesteps; using example list size to scale
            {
                unsigned int newRandomTimestep = gen() % pExamplesList.size();
                for (ISM::ObjectPtr currentObject: pExamplesList[newRandomTimestep]->objects)
                {
                    if (currentObject->type == objectType)
                    {
                        object = ISM::ObjectPtr(new ISM::Object(*currentObject)); // deep copy the object.
                        break;
                    }
                }
                counter++;
            }

            if (!object)
                throw std::runtime_error("In TestSetGenerator::generateTestSets(): Failed to find object of type " + objectType + " in evidence list.");

            testSets[i]->mObjectSet->insert(object);
        }
    }

    return testSets;
}

}