OcmSceneObjectContent.h

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#pragma once

// Global includes
#include <string>
#include <vector>
#include <sstream>

// Package includes
#include <boost/shared_ptr.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/property_tree/ptree.hpp>

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>

// Local includes
#include "inference/model/foreground/SceneObjectContent.h"

#include "inference/model/foreground/ocm/TermEvaluator.h"

#include "inference/model/foreground/ocm/shape/ShapeTermEvaluator.h"

#include "inference/model/foreground/ocm/appearance/AppearanceTermEvaluator.h"

#include "inference/model/foreground/ocm/occlusion/OcclusionTermEvaluator.h"

namespace ProbabilisticSceneRecognition {
  
  class OcmSceneObjectContent : public SceneObjectContent {
  public:

    OcmSceneObjectContent();
    
    ~OcmSceneObjectContent();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior);
    
    void update(std::vector<ISM::Object> pEvidenceList);
    
    double getSceneObjectProbability();
    
    void setBestStatus(bool pStatus);
    
  private:
    
    double mProbability;
    
    unsigned int mNumberOfSlots;
    
    std::vector<boost::shared_ptr<TermEvaluator> > mEvaluators;
    
    boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mVisualizer;
  };
}