SceneObjectDescription.h

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#pragma once

// Global includes
#include <string>
#include <vector>
#include <chrono>

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

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneVisualization.h>
#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>

#include <fstream>

// Local includes
#include "inference/model/foreground/SceneObjectContent.h"

#include "inference/model/foreground/ocm/OcmSceneObjectContent.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneObjectDescription {    
  public:

    SceneObjectDescription();

    ~SceneObjectDescription();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> mSuperior);
    
    void update(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger);
    
    double getSceneObjectProbability();
    
    double getSceneObjectPriori();
    
    std::string getDescription();
    
    void setBestStatus(bool pStatus);
    
  private:
    
    double mPriori;
    
    std::string mType;
    
    std::string mDescription;
    
    boost::shared_ptr<SceneObjectContent> mContent;
    
    boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mVisualizer;
  };
}