main.cpp

#include "functions.h"
#include <iostream>
#include <vector>
#include <string>
#include <tuple>

int main() {
    // Object folders (update paths if needed)
    std::vector<std::string> object_folders = {
        "004_sugar_box",
        "006_mustard_bottle",
        "035_power_drill"
    };

    // Best configuration tracking
    double best_miou = 0.0;
    std::tuple<int, float, int, int, int> best_params; // nfeatures, scaleFactor, nlevels, edgeThreshold, fastThreshold

    // Search space
    std::vector<int> nfeatures_list = {500, 750, 1000, 1250, 1500};
    std::vector<float> scaleFactors = {1.1f, 1.2f, 1.3f, 1.4f};
    std::vector<int> nlevels_list = {6, 8, 10};
    std::vector<int> edgeThresholds = {15, 20, 31};
    std::vector<int> fastThresholds = {10, 20, 30};

    for (int nfeatures : nfeatures_list) {
        for (float scaleFactor : scaleFactors) {
            for (int nlevels : nlevels_list) {
                for (int edgeThreshold : edgeThresholds) {
                    for (int fastThreshold : fastThresholds) {

                        std::cout << "\nTesting configuration: "
                                  << "nfeatures=" << nfeatures 
                                  << ", scaleFactor=" << scaleFactor
                                  << ", nlevels=" << nlevels
                                  << ", edgeThreshold=" << edgeThreshold
                                  << ", fastThreshold=" << fastThreshold 
                                  << std::endl;

                        // Call the modified process_all_orb() with these parameters
                        double miou = process_all_orb(object_folders, nfeatures, scaleFactor, nlevels, edgeThreshold, fastThreshold);

                        std::cout << "  --> Resulting MIoU: " << miou << std::endl;

                        // Update best if needed
                        if (miou > best_miou) {
                            best_miou = miou;
                            best_params = {nfeatures, scaleFactor, nlevels, edgeThreshold, fastThreshold};
                        }
                    }
                }
            }
        }
    }

    // Print best result
    auto [best_nfeatures, best_scaleFactor, best_nlevels, best_edgeThreshold, best_fastThreshold] = best_params;
    std::cout << "\nBest configuration found:" << std::endl;
    std::cout << "nfeatures = " << best_nfeatures << std::endl;
    std::cout << "scaleFactor = " << best_scaleFactor << std::endl;
    std::cout << "nlevels = " << best_nlevels << std::endl;
    std::cout << "edgeThreshold = " << best_edgeThreshold << std::endl;
    std::cout << "fastThreshold = " << best_fastThreshold << std::endl;
    std::cout << "Achieved Mean IoU (MIoU): " << best_miou << std::endl;

    return 0;
}