old_prediction_normalized.h

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

    private:
        bool referenceObjectProcessing(std::string objectType,
                                       ISM::VoteSpecifierPtr specifier,
                                       ISM::PosePtr &referencePose,
                                       unsigned int weight,
                                       unsigned int specifiersSize,
                                       unsigned int level);
        void nonReferenceObjectProcessing(IsmObject object,
                                          ISM::VoteSpecifierPtr specifier,
                                          ISM::PosePtr &referencePose,
                                          unsigned int weight);
        void calculateRecursiveUnfoundPoses(ISM::PosePtr& referencePose,
                                            std::string patternName,
                                            unsigned int weight,
                                            unsigned int level);
        void createAttributedPointCloudFromMap(double numberOfSpecifiers);
        void createAttributedPointCloud(ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction);
        std::map<IsmObject , std::vector<ISM::PosePtr>> objectPoseMap;
        SizeMap objectSizeMap;
    };
    typedef SharedPtr<PaperPredictionNormalized> PaperPredictionNormalizedPtr;
}