GaussianMixtureDistribution.h

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#pragma once

// Package includes
#include <Eigen/Core>
#include <Eigen/Geometry>

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

#include <Pose.h>

#include <visualization/psm/ProbabilisticSecondarySceneObjectVisualization.h>

// Local includes
#include "inference/model/foreground/ocm/shape/GaussianKernel.h"

#include <ISM/common_type/Pose.hpp>

namespace ProbabilisticSceneRecognition {

  class GaussianMixtureDistribution {
  public:
    
    GaussianMixtureDistribution(unsigned int pDimension);
    
    ~GaussianMixtureDistribution();
    
    void load(boost::property_tree::ptree& pPt, std::string pNode);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> pVisualizer);
    
    void visualize(boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> pVisualizer,
           boost::shared_ptr<ISM::Pose> pPose);
    
    double evaluate(boost::shared_ptr<ISM::Pose> pPose);
    
  private:
    
    Eigen::VectorXd getVectorFromObject(boost::shared_ptr<ISM::Pose> pPose);
    
  private:
    
    unsigned int mDimension;
    
    std::vector<PSMInference::GaussianKernel> mKernels;
  };
}