CombinatorialGraphGenerator.cpp

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#include "learner/foreground/ocm/combinatorial_optimization/CombinatorialGraphGenerator.h"
#include <ros/ros.h>

namespace ProbabilisticSceneRecognition {

CombinatorialGraphGenerator::CombinatorialGraphGenerator(std::vector<boost::shared_ptr<SceneObjectLearner>> pLearners,
                                                         std::vector<std::string> pObjectTypes):
    SceneModel::AbstractGraphGenerator(), mLearners(pLearners), mObjectTypes(pObjectTypes)
    {}

CombinatorialGraphGenerator::~CombinatorialGraphGenerator() {}

void CombinatorialGraphGenerator::buildTree(SceneModel::ObjectSetList pObjectSets, boost::shared_ptr<SceneModel::TreeNode>& pRoot)
{
    buildTree(pObjectSets, pRoot, mObjectTypes[0]);    // Builds tree with first object found as node.
}

void CombinatorialGraphGenerator::buildTree(SceneModel::ObjectSetList pTrajectories, boost::shared_ptr<SceneModel::TreeNode>& pRoot, std::string pType)
{
    boost::shared_ptr<CombinatorialOptimizer>
            combinatorialOptimizer(new CombinatorialOptimizer(mLearners, mObjectTypes, pTrajectories.mObjectSets));
    // set the optimized topology as the one to be transformed into the tree to be used for the final result
    boost::shared_ptr<SceneModel::Topology> optimizedTopology = combinatorialOptimizer->runOptimization();

    if (!optimizedTopology)
        throw std::runtime_error("no valid topology was found.");

    boost::shared_ptr<SceneModel::TreeNode> optimizedTree = optimizedTopology->getTree();

    // Rearrange for given node type, set the tree:
    pRoot = optimizedTree->setNewRootNodeByType(pType);
}

}