HierarchicalShapeModel.h

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#pragma once

// Global includes
#include <vector>

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

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

#include <asr_msgs/AsrObject.h>

#include <Pose.h>

#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>

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

#include <ISM/common_type/Object.hpp>
#include <ISM/common_type/Pose.hpp>

// Algorithms to combine conditional probabilities with of multiple parents:
#include "inference/model/foreground/ocm/shape/conditional_probability/MinimumConditionalProbability.h"
#include "inference/model/foreground/ocm/shape/conditional_probability/MultipliedConditionalProbability.h"
#include "inference/model/foreground/ocm/shape/conditional_probability/RootOfMultipliedConditionalProbability.h"
#include "inference/model/foreground/ocm/shape/conditional_probability/AverageConditionalProbability.h"

namespace ProbabilisticSceneRecognition {
  
  class HierarchicalShapeModel {
  public:

    HierarchicalShapeModel();
    
    ~HierarchicalShapeModel();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior);
    
    double calculateProbabilityForHypothesis(std::vector<ISM::Object> pEvidenceList, std::vector<unsigned int> pAssignments);
    
    void visualize(std::vector<ISM::Object> pEvidenceList);
    
    unsigned int getNumberOfNodes();
    
  private:
    
    double mWorkspaceVolume;
    
    boost::shared_ptr<ISM::Pose> mAbsolutePose;
    
    std::vector<boost::shared_ptr<HierarchicalShapeModelNode>> mChildren;
    
    boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mVisualizer;

    std::string mConditionalProbabilityAlgorithm;
  };
}