SceneContent.h

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#pragma once

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

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

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneVisualization.h>

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

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneContent {
  public:

    SceneContent();
    
    virtual ~SceneContent();
    
    virtual void load(boost::property_tree::ptree& pPt) = 0;
    
    virtual void initializeInferenceAlgorithms(std::string pAlgorithm) = 0;
    
    virtual void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> mSuperior) = 0;
    
    virtual void update(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger) = 0;
    
    double getSceneProbability();
    
  protected:
    
    void setInferenceAlgorithm(boost::shared_ptr<InferenceAlgorithm> pAlgorithm);
    
    void loadInferenceAlgorithm(boost::property_tree::ptree& pPt);
    
    void doInference(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger);
    
  private:
    
    boost::shared_ptr<InferenceAlgorithm> mAlgorithm;
    
  };
}