BackgroundInferenceAlgorithm.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 BackgroundInferenceAlgorithm : public InferenceAlgorithm {
  public:

    BackgroundInferenceAlgorithm();
    
    ~BackgroundInferenceAlgorithm();
    
    void load(boost::property_tree::ptree& pPt);
    
    virtual void doInference(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger) = 0;
    
    virtual double getProbability() = 0;
    
  protected:
    
    double calculateProbabilityOfBackgroundSceneObject(unsigned int pNumberOfEvidence, unsigned int pNumberOfSlots);
    
  private:
    
    unsigned int mNumberOfObjectClasses;
    
    double mVolumeOfWorkspace;
    
  };
}