OcmTree.h

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#pragma once

// Global includes
#include <vector>

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

#include <trainer/TreeNode.h>
#include <trainer/source/ObjectSet.h>

#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>
#include <visualization/psm/ProbabilisticSecondarySceneObjectVisualization.h>

// Local includes
#include "learner/foreground/ocm/ocm/shape/GaussianMixtureModel.h"

#include "helper/MappedProbabilityTable.h"
#include "helper/ProbabilityTable.h"

#include "helper/MathHelper.h"

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

namespace ProbabilisticSceneRecognition {
  
  class OcmTree {
  public:
    
    OcmTree(const boost::shared_ptr<SceneModel::TreeNode> pRoot);
    
    ~OcmTree();
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior, 
                              OcmTree* pParent);
    
    void saveShape(boost::property_tree::ptree& pPt);
    
    unsigned int getNumberOfNodes();
    
  public:
    
    std::string mType;
    
    boost::shared_ptr<ISM::ObjectSet> mObjectSet;
        
    std::vector<boost::shared_ptr<OcmTree> > mChildren;
    
    GaussianMixtureModel mGaussianMixtureModelPosition;
    
    GaussianMixtureModel mGaussianMixtureModelOrientation;
    
    boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> mVisualizer;

    bool mIsReference;

  private:

    unsigned int mReferenceToID;
  };
}