CombinatorialOptimizer.h

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#pragma once

#include <boost/filesystem.hpp> // needed by RecordHunt, SimulatedAnnealing

#include <topology_creator/TopologyCreator.h>

#include <ISM/combinatorial_optimization/HillClimbingAlogrithm.hpp>
#include <ISM/combinatorial_optimization/RecordHuntAlgorithm.hpp>
#include <ISM/combinatorial_optimization/CostDeltaAcceptanceFunction.hpp>
#include <ISM/combinatorial_optimization/SimulatedAnnealingAlgorithm.hpp>
#include <ISM/combinatorial_optimization/ExponentialCoolingSchedule.hpp>

#include <ISM/common_type/ObjectSet.hpp>

#include "learner/foreground/ocm/combinatorial_optimization/WeightedSum.h"
#include "learner/foreground/ocm/combinatorial_optimization/TestSetGenerator.h"
#include "learner/foreground/ocm/combinatorial_optimization/AbsoluteTestSetGenerator.h"
#include "learner/foreground/ocm/combinatorial_optimization/RelativeTestSetGenerator.h"
#include "learner/foreground/ocm/combinatorial_optimization/ReferenceTestSetGenerator.h"
#include "learner/foreground/ocm/combinatorial_optimization/TopologyManager.h"
#include "learner/foreground/ocm/combinatorial_optimization/TestSetSelection.h"

#include "helper/PrintHelper.h"

namespace ProbabilisticSceneRecognition {

class CombinatorialOptimizer {

public:
    CombinatorialOptimizer(std::vector<boost::shared_ptr<SceneObjectLearner>> pLearners,
                         std::vector<std::string> pObjectTypes, std::vector<boost::shared_ptr<ISM::ObjectSet>> pExamplesList);

    ~CombinatorialOptimizer();

    boost::shared_ptr<SceneModel::Topology> runOptimization();

private:

    void initTestSets(const std::vector<std::string>& pObjectTypes, const std::vector<boost::shared_ptr<ISM::ObjectSet>>& pExamplesList);

    void initFullyMeshedTopologyAndFilterLoadedTestSets();

    void initStarTopologies();

    void initStartingTopologies(unsigned int pNumberOfStartingTopologies, const std::string& pStartingTopologiesType);

    void initCostFunction(const std::string& pType);

    void initNeighbourhoodFunction(const std::string& pType);

    void initOptimizationAlgorithm(const std::string& pType);

    void optimize(boost::shared_ptr<SceneModel::Topology> pStartingTopology, unsigned int pStartingTopologyNumber);

    ros::NodeHandle mNodeHandle;

    std::vector<boost::shared_ptr<SceneModel::Topology>> mStarTopologies;

    boost::shared_ptr<SceneModel::Topology> mFullyMeshedTopology;

    std::vector<boost::shared_ptr<SceneModel::Topology>> mStartingTopologies;

    boost::shared_ptr<AbstractTopologyEvaluator> mEvaluator;

    boost::shared_ptr<ISM::CostFunction<boost::shared_ptr<SceneModel::Topology>>> mCostFunction;

    boost::shared_ptr<TopologyManager> mTopologyManager;
    boost::shared_ptr<ISM::NeighbourhoodFunction<boost::shared_ptr<SceneModel::Topology>>> mNeighbourhoodFunction;

    boost::shared_ptr<ISM::OptimizationAlgorithm<boost::shared_ptr<SceneModel::Topology>>> mOptimizationAlgorithm;

    unsigned int mMinFalsePositives;        // set in ctor
    unsigned int mMinFalseNegatives;        // set in ctor
    double mMinAverageRecognitionRuntime;   // set in ctor
    unsigned int mMaxFalsePositives;        // set in initStar
    unsigned int mMaxFalseNegatives;        // set in initStar
    double mMaxAverageRecognitionRuntime;   // set in initFullyMeshed
    bool mMinFPInitialized, mMinFNInitialized, mMinTimeInitialized, mMaxFPInitialized, mMaxFNInitialized, mMaxTimeInitialized;

    boost::shared_ptr<SceneModel::Topology> mBestOptimizedTopology;

    boost::shared_ptr<SceneModel::Topology> mWorstStarIfRequested;

    double mRandomRestartProbability;

    bool mUseFlexibleRecognitionThreshold;

    PrintHelper mPrintHelper;

    int mTestSetCount;

    int mLoadedTestSetCount;

    double mRecognitionThreshold;
};

}