GMMReducer.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    MemoryX::GaussianMixtureHelpers
* @author     Alexey Kozlov <kozlov@kit.edu>
* @copyright  2013 Alexey Kozlov
* @license    http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
// boost
#include <memory>
#include <string>
 
#include <ArmarXCore/core/system/ImportExport.h>
 
#include "GMMDistance.h"
#include <MemoryX/core/entity/ProbabilityMeasures.h>
 
namespace memoryx
{
 
    enum DeviationMeasure
    {
        eAABB,
        eOrientedBBox,
        eEqualSphere
    };
 
    using GMMCompPairDistance = std::pair<int, float>;
    using GMMCompPairDistanceVector = std::vector<GMMCompPairDistance>;
 
    /**
    * @class GMMReducer
    * @ingroup CommonPlacesLearner
    */
    class ARMARXCORE_IMPORT_EXPORT GMMReducer
    {
    public:
        /**
         * Creates a new GMMReducer
         */
        GMMReducer()
        {
        }
 
        /**
         *
         *
         */
        virtual GaussianMixtureDistributionBasePtr
        reduceByComponentCount(const GaussianMixtureDistributionBasePtr& fullGMM, int countComp);
 
        virtual GaussianMixtureDistributionBasePtr
        reduceByMaxAABB(const GaussianMixtureDistributionBasePtr& fullGMM, float maxSideLength);
 
        virtual GaussianMixtureDistributionBasePtr
        reduceByMaxOrientedBBox(const GaussianMixtureDistributionBasePtr& fullGMM,
                                float maxSideLength);
 
        virtual GaussianMixtureDistributionBasePtr
        reduceByMaxEqualSphere(const GaussianMixtureDistributionBasePtr& fullGMM,
                               float maxSphereRadius);
 
        virtual GaussianMixtureDistributionBasePtr
        reduceByMaxDeviation(const GaussianMixtureDistributionBasePtr& fullGMM,
                             float maxDeviation,
                             DeviationMeasure devMeasure);
 
    protected:
        GMMDistancePtr gmmDistance;
 
        virtual float getMergingCost(const GaussianMixtureDistributionBasePtr& gmm, int c1, int c2);
 
        virtual void fillMergingCostVector(const GaussianMixtureDistributionBasePtr& gmm,
                                           GMMCompPairDistanceVector& costVec);
 
        void mergeGMMComponents(const GaussianMixtureComponent& comp1,
                                const GaussianMixtureComponent& comp2,
                                GaussianMixtureComponent& mergedComp);
 
        void replaceComponentsWithMerged(GaussianMixtureDistributionPtr& gmm,
                                         int index1,
                                         int index2,
                                         const GaussianMixtureComponent& mergedComp);
 
        void mergeGMMComponents(GaussianMixtureDistributionPtr& gmm, int index1, int index2);
    };
 
    using GMMReducerPtr = std::shared_ptr<GMMReducer>;
 
} // namespace memoryx