ForegroundSceneContent.h

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#pragma once

// Global includes
#include <vector>
#include <fstream>
#include <iostream>

// Package includes
#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/property_tree/ptree.hpp>

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneVisualization.h>

// Local includes
#include "inference/model/SceneContent.h"

#include "inference/model/foreground/PowerSetForegroundInferenceAlgorithm.h"
#include "inference/model/foreground/SummarizedForegroundInferenceAlgorithm.h"
#include "inference/model/foreground/MultipliedForegroundInferenceAlgorithm.h"
#include "inference/model/foreground/MaximumForegroundInferenceAlgorithm.h"

#include "inference/model/foreground/SceneObjectDescription.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class ForegroundSceneContent : public SceneContent {
  public:
    
    ForegroundSceneContent();
    
    ~ForegroundSceneContent();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeInferenceAlgorithms(std::string pAlgorithm);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> mSuperior);
    
    void update(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger);
    
  protected:
    
    boost::shared_ptr<std::vector<boost::shared_ptr<SceneObjectDescription> > > mSceneObjects;
  };
}