scene_configurator_data.hpp

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#pragma once

// Global Includes
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

// ISM Includes
#include <ISM/common_type/Object.hpp>
#include <ISM/common_type/ObjectSet.hpp>



struct ObjectEstimation
{
    ISM::ObjectPtr object;
    bool marked;
    bool in_view;

    ObjectEstimation(ISM::ObjectPtr _object) : object(_object), marked(false), in_view(true) {}
    ObjectEstimation(const ObjectEstimation &other) : object(ISM::ObjectPtr(new ISM::Object(*(other.object)))), marked(other.marked), in_view(other.in_view) {}
};
typedef boost::shared_ptr<ObjectEstimation> ObjectEstimationPtr;
typedef std::vector<ObjectEstimationPtr> ObjectEstimationPtrs;



class SceneConfiguratorData
{
    public:

        SceneConfiguratorData(bool enable_nbrhood_eval = false, double nbr_angle_threshold = 0, double nbr_dist_threshold = 0) : enable_neighborhood_evaluation_(enable_nbrhood_eval), neighbour_angle_threshold_(nbr_angle_threshold), neighbour_distance_threshold_(nbr_dist_threshold) {}

        void addEstimation(ISM::ObjectPtr object);
        void resetInViewForAllEstimations();
        void setMarkedForAllEstimationsInView(bool marked);
        void unmarkAllEstimations();
        ISM::ObjectSetPtr getObjectSetFromMarkedEstimations();
        ISM::ObjectSetPtr getObjectSetFromAllEstimations();
        ObjectEstimationPtrs getAllEstimations();
        void clearAllEstimations();
        void clearUnmarkedEstimations();

    private:        

        ObjectEstimationPtrs estimations_;
        boost::mutex estimations_mutex_;

        bool enable_neighborhood_evaluation_;
        double neighbour_angle_threshold_;
        double neighbour_distance_threshold_;
};