recognition_probability_computer.h

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// Author(s): Peter Brook

#ifndef RECOGNITION_PROBABILITY_COMPUTER
#define RECOGNITION_PROBABILITY_COMPUTER

#include <map>
#include <vector>

#include <object_manipulation_msgs/GraspableObject.h>
#include "probabilistic_grasp_planner/probabilistic_planner_tools.h"

namespace probabilistic_grasp_planner {

class RecognitionProbabilityComputer
{
public:
  virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects) = 0;
  
};
typedef boost::shared_ptr<RecognitionProbabilityComputer> RecognitionProbabilityComputerPtr;

class TopHitProbabilityComputer : public RecognitionProbabilityComputer
{
private:
  int top_hit_model_id_;

public:
  void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);

};

class CompositeProbabilityComputer : public RecognitionProbabilityComputer
{
protected:
  double recognition_threshold_;

  bool db_only_;
  virtual double getProbabilityForRecognitionScore(const double &score);

public:
  CompositeProbabilityComputer(bool db_only) :
    db_only_(db_only)
  {

  }

  virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);
};

class InverseCurveRecognitionProbabilityComputer : public CompositeProbabilityComputer
{
private:
  double curvature_;

protected:
  virtual double getProbabilityForRecognitionScore(const double &score);
public:
  InverseCurveRecognitionProbabilityComputer(double recognition_threshold, double curvature, bool db_only) :
    CompositeProbabilityComputer(db_only), curvature_(curvature)
  {

  }
};

class LearnedProbabilityComputer : public RecognitionProbabilityComputer
{
private:
  enum Cases {CLUSTER_ONLY,CLUSTER_DB,DB_ONLY,DB_MULTIPLE,CLUSTER_DB_MULTIPLE};
public:
  LearnedProbabilityComputer()
  {

  }

  virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);
};

}

 //namespace

#endif