MaximumForegroundInferenceAlgorithm.cpp

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#include "inference/model/foreground/MaximumForegroundInferenceAlgorithm.h"

namespace ProbabilisticSceneRecognition {
 
  MaximumForegroundInferenceAlgorithm::MaximumForegroundInferenceAlgorithm(boost::shared_ptr<std::vector<boost::shared_ptr<SceneObjectDescription> > >& pSceneObjects)
  : ForegroundInferenceAlgorithm(pSceneObjects)
  , mProbability(0.0)
  {
  }
  
  MaximumForegroundInferenceAlgorithm::~MaximumForegroundInferenceAlgorithm()
  {
  }

  void MaximumForegroundInferenceAlgorithm::doInference(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger)
  {
    ROS_INFO_STREAM("Calculating scene probability.");
    
    // Iterate over all scene objects, evaluate them and summarize the results.
    mProbability = 0.0;
    for(boost::shared_ptr<SceneObjectDescription> sceneObject : *mSceneObjects)
    {
      // Update the scene objects with the new evidence.
      sceneObject->update(pEvidenceList, pRuntimeLogger);
      
      mProbability = std::max(mProbability, sceneObject->getSceneObjectProbability() * sceneObject->getSceneObjectPriori());
    }
    
    // Iterate over all scene objects and mark the best one.
    bool done = false;
    for(boost::shared_ptr<SceneObjectDescription> sceneObject : *mSceneObjects)
    {
      if(sceneObject->getSceneObjectProbability() * sceneObject->getSceneObjectPriori() == mProbability && !done)
      {
        sceneObject->setBestStatus(true);
        done = true;
      } else
        sceneObject->setBestStatus(false);
    }
    ROS_INFO_STREAM(" > Maximum scene probability is: '" << mProbability << "'.");
  }
  
  double MaximumForegroundInferenceAlgorithm::getProbability()
  {
    return mProbability;
  }
  
}