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fix bug. #2

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fix bug. #2

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22 changes: 11 additions & 11 deletions include/pose/solver-callback.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ private:
class Callback
: public IlpSolver::Callback
{
public:
public:
typedef typename IlpSolver::Callback IlpSolverCallback;
typedef PoseEstimator<IlpSolver, FeasibleSolutionCallback> PoseEstimatorType;
typedef typename PoseEstimatorType::size_type size_type;
Expand Down Expand Up @@ -135,7 +135,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::PoseEstimator(
const int timeLimit,
const double epsilonProbability
)
:
:
problem_(problem),
epsilonProbability_(epsilonProbability),
detectionGraph_(problem.numberOfDetections()),
Expand Down Expand Up @@ -243,7 +243,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllImpossiblePartClass
if (problem_.getPartClassProbability(d, l) <= epsilonProbability_)
{
vi[0] = x(d, l);

ilpSolver_.addConstraint(vi, vi + 1, c, .0, .0); // x_{d, c} = 0
++n;
}
Expand Down Expand Up @@ -306,7 +306,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllLinearizationConstr
for (size_t c1 = 0; c1 < problem_.numberOfPartClasses(); ++c1)
{
auto it = problem_.joinMap().find(JoinIndexType(d0, d1, c0, c1));

if (it->second.getProbability() > epsilonProbability_) // if z_{d0, d1, c0, c1} is explicitly in the ILP
{
vi[1] = it->second.getVariableIndex(); // z_{d0, d1, c0, c1}
Expand Down Expand Up @@ -339,7 +339,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllLinearizationConstr
vi[1] = x(d1, c1);

ilpSolver_.addConstraint(vi, vi + 2, c, lowerBound, .0);
++n;
++n;
}

std::cout << n << std::endl;
Expand All @@ -364,7 +364,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllCouplingConstraints
double const upperBound = std::numeric_limits<double>::infinity();

for (size_t d0 = 0; d0 < problem_.numberOfDetections(); ++d0)
for (size_t d1 = d0 + 1; d1 < problem_.numberOfDetections(); ++d1)
for (size_t d1 = d0 + 1; d1 < problem_.numberOfDetections(); ++d1)
{
vi.back() = y(d0, d1);

Expand All @@ -374,7 +374,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllCouplingConstraints

ilpSolver_.addConstraint(vi.begin(), vi.end(), c.begin(), lowerBound, upperBound); // 0 <= (sum_{c \in C} x_{d0, c}) - y_{d0, d1}
++n;

// d1
for(size_t c = 0; c < problem_.numberOfPartClasses(); ++c)
vi[c] = x(d1, c); // d1
Expand Down Expand Up @@ -405,7 +405,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllUniquenessConstrain
for (size_t c0 = 0; c0 < problem_.numberOfPartClasses(); ++c0)
{
vi[0] = x(d, c0);

for(size_t c1 = c0 + 1; c1 < problem_.numberOfPartClasses(); ++c1)
{
vi[1] = x(d, c1);
Expand All @@ -417,8 +417,8 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::addAllUniquenessConstrain
}
else
{
vector<size_t> vi(problem_.numberOfPartClasses());
vector<size_t> const c(problem_.numberOfPartClasses(), 1.0);
std::vector<size_t> vi(problem_.numberOfPartClasses());
std::vector<size_t> const c(problem_.numberOfPartClasses(), 1.0);

for (size_t d = 0; d < problem_.numberOfDetections(); ++d)
{
Expand Down Expand Up @@ -594,7 +594,7 @@ PoseEstimator<ILP_SOLVER, FEASBILE_SOLUTION_CALLBACK>::Callback::separateAndAddL
{
solution[d].clusterIndex_ = components.labels_[d];
solution[d].partClass_ = std::numeric_limits<size_t>::max(); // suppressed

for (size_t c = 0; c < poseEstimator_.problem_.numberOfPartClasses(); ++c)
if (this->label(poseEstimator_.x(d, c)) > .5)
{
Expand Down