old_prediction_non_normalized.h

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#pragma once
#include "pose_prediction_ism/pose_predictor.h"
namespace pose_prediction_ism
{
    class PaperPredictionNonNormalized : public PosePredictor
    {
    public:
        PaperPredictionNonNormalized(std::string dbfileName);
        ~PaperPredictionNonNormalized();
        AttributedPointCloud predictUnfoundPoses(ISM::PosePtr& referencePose, std::string patternName, double numberOfSpecifiers);

    private:
        bool nonReferenceObjectProcessing(IsmObject object,
                                          ISM::VoteSpecifierPtr specifier,
                                          ISM::PosePtr &referencePose,
                                          unsigned int weight,
                                          unsigned int specifiersSize);

        bool referenceObjectProcessing(std::string objectType,
                                       ISM::VoteSpecifierPtr specifier,
                                       ISM::PosePtr &referencePose,
                                       unsigned int weight,
                                       unsigned int specifiersSize);

        void createAttributedPointCloud(ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction);
        void calculateRecursiveUnfoundPoses(ISM::PosePtr &referencePose, std::string patternName, unsigned int weight);
        void addPointToPointCloudWithNumber(ISM::PosePtr poseToAdd, IsmObject object, unsigned int numberOfHypotheses);


    };
    typedef SharedPtr<PaperPredictionNonNormalized> PaperPredictionNonNormalizedPtr;
}