#include <TopologyEvaluator.h>

Inheritance diagram for ProbabilisticSceneRecognition::TopologyEvaluator:

Public Member Functions
bool	evaluate (boost::shared_ptr< SceneModel::Topology > pTopology, bool pFullyMeshed=false)

	TopologyEvaluator (std::vector< boost::shared_ptr< ISM::ObjectSet >> pExamplesList, std::vector< boost::shared_ptr< SceneObjectLearner >> pLearners, double pRecognitionThreshold)

	~TopologyEvaluator ()

Public Member Functions inherited from ProbabilisticSceneRecognition::AbstractTopologyEvaluator
void	eraseInvalidTestSet (unsigned int pIndex)

void	eraseValidTestSet (unsigned int pIndex)

std::vector< boost::shared_ptr< TestSet > >	getInvalidTestSets ()

double	getRecognitionThreshold ()

std::vector< boost::shared_ptr< TestSet > >	getValidTestSets ()

void	setInvalidTestSets (const std::vector< boost::shared_ptr< TestSet >> &pInvalidTestSets)

void	setRecognitionThreshold (double pRecognitionThreshold)

void	setValidTestSets (const std::vector< boost::shared_ptr< TestSet >> &pValidTestSets)

Private Member Functions
double	getProbability (boost::shared_ptr< TestSet > pEvidence)

std::pair< double, double >	recognize (boost::shared_ptr< TestSet > pEvidence, bool pFullyMeshed=false)

void	update (boost::shared_ptr< SceneModel::TreeNode > pTree)

void	xmlOutput (boost::shared_ptr< SceneModel::Topology > pTopology)

Private Attributes
bool	mCreateRuntimeLog

std::vector< boost::shared_ptr< ISM::ObjectSet > >	mExamplesList

ForegroundSceneContent	mForegroundSceneContent

std::string	mFrameId

std::string	mInferenceAlgorithm

std::vector< boost::shared_ptr< SceneObjectLearner > >	mLearners

boost::property_tree::ptree	mModel

PrintHelper	mPrintHelper

unsigned int	mRunNumber

std::ofstream	mRuntimeLogger

double	mScaleFactor

double	mSigmaMultiplier

bool	mTargetingHelp

bool	mVisualize

boost::shared_ptr< Visualization::ProbabilisticSceneVisualization >	mVisualizer

std::string	mXmlFilePath

std::string	mXmlOutput

Additional Inherited Members
Protected Attributes inherited from ProbabilisticSceneRecognition::AbstractTopologyEvaluator
std::vector< boost::shared_ptr< TestSet > >	mInvalidTestSets

double	mRecognitionThreshold

std::vector< boost::shared_ptr< TestSet > >	mValidTestSets

Detailed Description

Tests learned models of topologies against valid and invalid test sets.

Definition at line 30 of file TopologyEvaluator.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::TopologyEvaluator::TopologyEvaluator	(	std::vector< boost::shared_ptr< ISM::ObjectSet >>	pExamplesList,
		std::vector< boost::shared_ptr< SceneObjectLearner >>	pLearners,
		double	pRecognitionThreshold
	)

Constructor.

Parameters

pExamplesList	list of object observations (evidences) to train on.
pLearners	learners to learn models to test.
pRecognitionThreshold	the threshold above (>) which a scene is considered recognized.

Definition at line 22 of file TopologyEvaluator.cpp.

ProbabilisticSceneRecognition::TopologyEvaluator::~TopologyEvaluator ( )

Desctuctor.

Definition at line 77 of file TopologyEvaluator.cpp.

Member Function Documentation

bool ProbabilisticSceneRecognition::TopologyEvaluator::evaluate	(	boost::shared_ptr< SceneModel::Topology >	pTopology,
		bool	pFullyMeshed = `false`
	)

virtual

Evaluate model learned on topology against test sets, write results to topology.

Parameters

pTopology	to evaluate.
pFullyMeshed	whether the topology to evaluate is the fully meshed one.

Returns: whether a new evaluation was neccessary.

Implements ProbabilisticSceneRecognition::AbstractTopologyEvaluator.

Definition at line 84 of file TopologyEvaluator.cpp.

double ProbabilisticSceneRecognition::TopologyEvaluator::getProbability ( boost::shared_ptr< TestSet > pEvidence )

private

Returns the probability whether the given evidence represents the scene represented by the last learned model.

Parameters

pEvidence the object observations to calculate the probability for.

Returns: the probability whether the given evidence represents the scene represented by the last learned model.

Definition at line 153 of file TopologyEvaluator.cpp.

std::pair< double, double > ProbabilisticSceneRecognition::TopologyEvaluator::recognize	(	boost::shared_ptr< TestSet >	pEvidence,
		bool	pFullyMeshed = `false`
	)

private

Runs recognition on evidence and returns probability recognition runtime. Also writes recognition runtime and probability to TestSet if the topology used to evaluate against is the fully meshed one.

Parameters

pEvidence	the TestSet to recognize
pFullyMeshed	whether the topology used to recognize is the fully meshed one, and whether to store recognition runtime and probability in TestSet

Returns: the probability and recognition runtime for this test set.

Definition at line 133 of file TopologyEvaluator.cpp.

void ProbabilisticSceneRecognition::TopologyEvaluator::update ( boost::shared_ptr< SceneModel::TreeNode > pTree )

private

Update the model to represent the given tree.

Parameters

pTree tree to form the basis of the new model.

Definition at line 169 of file TopologyEvaluator.cpp.

void ProbabilisticSceneRecognition::TopologyEvaluator::xmlOutput ( boost::shared_ptr< SceneModel::Topology > pTopology )

private

Output model in xml format.

Parameters

pTopology the topology underlying the model to write and containing its evalution results.

Definition at line 201 of file TopologyEvaluator.cpp.

Member Data Documentation

bool ProbabilisticSceneRecognition::TopologyEvaluator::mCreateRuntimeLog

private

Whether to create a runtime log.

Definition at line 141 of file TopologyEvaluator.h.

std::vector<boost::shared_ptr<ISM::ObjectSet> > ProbabilisticSceneRecognition::TopologyEvaluator::mExamplesList

private

List of object observations (evidences) to train on.

Definition at line 88 of file TopologyEvaluator.h.

ForegroundSceneContent ProbabilisticSceneRecognition::TopologyEvaluator::mForegroundSceneContent

private

Used to do inference on the learned model.

Definition at line 114 of file TopologyEvaluator.h.

std::string ProbabilisticSceneRecognition::TopologyEvaluator::mFrameId

private

The name of the frame the objects should be transformed to.

Definition at line 155 of file TopologyEvaluator.h.

std::string ProbabilisticSceneRecognition::TopologyEvaluator::mInferenceAlgorithm

private

Algorithm to be used to combine inference results. from { "powerset", "summarized", "multiplied", "maximum" }

Definition at line 120 of file TopologyEvaluator.h.

std::vector<boost::shared_ptr<SceneObjectLearner> > ProbabilisticSceneRecognition::TopologyEvaluator::mLearners

private

Learners to learn models to test.

Definition at line 93 of file TopologyEvaluator.h.

boost::property_tree::ptree ProbabilisticSceneRecognition::TopologyEvaluator::mModel

private

xml property tree describing the partial model learned on the current topoloy.

Definition at line 136 of file TopologyEvaluator.h.

PrintHelper ProbabilisticSceneRecognition::TopologyEvaluator::mPrintHelper

private

Class used to print lines as headers, marked with dividers.

Definition at line 104 of file TopologyEvaluator.h.

unsigned int ProbabilisticSceneRecognition::TopologyEvaluator::mRunNumber

private

Number of the current evaluator run, increased whenever evaluate() is called. Used in file names when mXmlOutput is "file".

Definition at line 99 of file TopologyEvaluator.h.

std::ofstream ProbabilisticSceneRecognition::TopologyEvaluator::mRuntimeLogger

private

A logger for the runtimes for the scene objects.

Definition at line 109 of file TopologyEvaluator.h.

double ProbabilisticSceneRecognition::TopologyEvaluator::mScaleFactor

private

The visualization is pretty small, this scale factor enlarges it.

Definition at line 159 of file TopologyEvaluator.h.

double ProbabilisticSceneRecognition::TopologyEvaluator::mSigmaMultiplier

private

This factor determines the multiple of the standard deviation.

Definition at line 163 of file TopologyEvaluator.h.

bool ProbabilisticSceneRecognition::TopologyEvaluator::mTargetingHelp

private

Set true, to overwrite the visualization of results of intermediate inference runs and plot the target distributions instead.

Definition at line 151 of file TopologyEvaluator.h.

bool ProbabilisticSceneRecognition::TopologyEvaluator::mVisualize

private

Whether to visualize intermediate inference runs in rviz.

Definition at line 147 of file TopologyEvaluator.h.

boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> ProbabilisticSceneRecognition::TopologyEvaluator::mVisualizer

private

Visualizer for the ForegroundSceneContent.

Definition at line 168 of file TopologyEvaluator.h.

std::string ProbabilisticSceneRecognition::TopologyEvaluator::mXmlFilePath

private

If pXmlOutput is "file", the path where to store the files.

Definition at line 131 of file TopologyEvaluator.h.

std::string ProbabilisticSceneRecognition::TopologyEvaluator::mXmlOutput

private

Type of output of the learned model in xml format. from { "none", "screen", "file" }

Definition at line 126 of file TopologyEvaluator.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation