function model = kitti_train(cls, n, note)
% Train a model.
%   model = j_train(cls, n, note)
%
%   The model will be a mixture of n star models, each of which
%   has 2 latent orientations.
%
% Arguments
%   cls           Object class to train and evaluate
%   n             Number of aspect ratio clusters to use
%                 (The final model has 2*n components)
%   note          Save a note in the model.note field that describes this model

% At every "checkpoint" in the training process we reset the 
% RNG's seed to a fixed value so that experimental results are 
% reproducible.
seed_rand();

% Default to no note
if nargin < 3
  note = '';
end

global VOC_CONFIG_OVERRIDE;
VOC_CONFIG_OVERRIDE = @kitti_voc_config_override;

conf = voc_config();

cachedir = conf.paths.model_dir;

% Load the training data
[pos, neg, impos] = kitti_data(cls, conf.pascal.year);

% pos
% keyboard
% keyboard
% som = 0;
% for inx=1:length(pos)
%     im = imread(pos(inx).im);
% 
% %     pos(inx).im
% %     size(im)
%     
%     if size(im,1)~=375 || size(im,2)~=1242
%         pos(inx).im
%         size(im)
%         som=som+1;
%     end
% 
% %     if pos(inx).flip
% %         im = im(:,end:-1:1,:);
% %     end
%     
% %     disp(['box: ' num2str(pos(inx).x1) ', ' num2str(pos(inx).x2) ', ' num2str(pos(inx).y1) ', ' num2str(pos(inx).y2) ])
% 
% %     box = im(pos(inx).y1:pos(inx).y2,pos(inx).x1:pos(inx).x2,:);
% 
% %     imshow(box);
% %     pause
% end
% 
% keyboard

% Sample the positives
pos = pos(randi(length(pos),1,conf.training.maxpos));

% Sample the image positives
impos = impos(randi(length(impos),1,conf.training.maxpos));

% Split foreground examples into n groups by aspect ratio
spos = split(pos, n);

max_num_examples = conf.training.cache_example_limit;
num_fp           = conf.training.wlssvm_M;
fg_overlap       = conf.training.fg_overlap;

% Select a small, random subset of negative images
% All data mining iterations use this subset, except in a final
% round of data mining where the model is exposed to all negative
% images
num_neg   = length(neg);
neg_perm  = neg(randperm(num_neg));
neg_small = neg_perm(1:min(num_neg, conf.training.num_negatives_small));
neg_large = neg; % use all of the negative images

% Train one asymmetric root filter for each aspect ratio group
% using warped positives and random negatives

try
  disp(['loading cache dir: ' cachedir cls '_lrsplit1'])
  load([cachedir cls '_lrsplit1']);
  disp('done')
catch
  disp('Training one asymmetric root filter')
  seed_rand();
  for i = 1:n
    models{i} = root_model(cls, spos{i}, note);
    % Split the i-th aspect ratio group into two clusters: 
    % left vs. right facing instances
    inds = lrsplit(models{i}, spos{i});
    
    % Train asymmetric root filter on one of these groups
    models{i} = train(models{i}, spos{i}(inds), neg_large, true, true, 1, 1, ...
                      max_num_examples, fg_overlap, 0, false, ...
                      ['lrsplit1_' num2str(i)]);
  end
  disp('save to cache')
  save([cachedir cls '_lrsplit1'], 'models');
end

for i=1:length(models)
    figure
    visualizemodel(models{i})
end

disp('Asymmetric root filters, using warped positives and random negatives')
disp('press any key to continue ...')
pause

% Train a mixture of two root filters for each aspect ratio group
% Each pair of root filters are mirror images of each other
% and correspond to two latent orientations choices
% Training uses latent positives and hard negatives
try
  load([cachedir cls '_lrsplit2']);
catch
  seed_rand();
  for i = 1:n
    % Build a mixture of two (mirrored) root filters
    models{i} = lr_root_model(models{i});
    models{i} = train(models{i}, spos{i}, neg_small, false, false, 4, 3, ...
                      max_num_examples, fg_overlap, 0, false, ...
                      ['lrsplit2_' num2str(i)]);
  end
  save([cachedir cls '_lrsplit2'], 'models');
end

close all 

for i=1:length(models)
    figure
    visualizemodel(models{i})
end

disp('Mirror filters using latent positives and hard negatives')
disp('press any key to continue ...')
pause


% Train a mixture model composed all of aspect ratio groups and 
% latent orientation choices using latent positives and hard negatives
try 
  load([cachedir cls '_mix']);
catch
  seed_rand();
  % Combine separate mixture models into one mixture model
  model = model_merge(models);
  disp('training with impos')
  model = train(model, impos, neg_small, false, false, 1, 5, ...
                max_num_examples, fg_overlap, num_fp, false, 'mix');
  save([cachedir cls '_mix'], 'model');
end

close all 

visualizemodel(model)

disp('Mixture model using latent positives and hard negatives')
disp('press any key to continue ...')
pause

% Train a mixture model with 2x resolution parts using latent positives
% and hard negatives
try 
  load([cachedir cls '_parts']);
catch
  seed_rand();
  % Add parts to each mixture component
  for i = 1:2:2*n
    % Top-level rule for this component
    ruleind = i;
    % Top-level rule for this component's mirror image
    partner = i+1;
    % Filter to interoplate parts from
    filterind = i;
    model = model_add_parts(model, model.start, ruleind, ...
                            partner, filterind, 8, [6 6], 1);
    % Enable learning location/scale prior
    bl = model.rules{model.start}(i).loc.blocklabel;
    model.blocks(bl).w(:)     = 0;
    model.blocks(bl).learn    = 1;
    model.blocks(bl).reg_mult = 1;
  end
  % Train using several rounds of positive latent relabeling
  % and data mining on the small set of negative images
  disp('training with impos')
  model = train(model, impos, neg_small, false, false, 8, 10, ...
                max_num_examples, fg_overlap, num_fp, false, 'parts_1');
  % Finish training by data mining on all of the negative images
  model = train(model, impos, neg_large, false, false, 1, 5, ...
                max_num_examples, fg_overlap, num_fp, true, 'parts_2');
  save([cachedir cls '_parts'], 'model');
end

visualizemodel(model)

disp('Mixture model with 2x parts, latent positives and hard negatives')
disp('press any key to continue ...')
pause

save([cachedir cls '_final'], 'model');