SceneDescription.h

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#pragma once

// Global includes
#include <vector>
#include <fstream>
#include <iostream>

// Package includes
#include <asr_msgs/AsrObject.h>

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

#include <visualization/psm/ProbabilisticSceneModelVisualization.h>
#include <visualization/psm/ProbabilisticSceneVisualization.h>

// Local includes
#include "inference/model/SceneIdentifier.h"
#include "inference/model/SceneContent.h"

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

#include "inference/model/background/BackgroundSceneContent.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneDescription {
  public:
    
    SceneDescription();
    
    ~SceneDescription();
    
    void load(boost::property_tree::ptree& pPt, std::string pAlgorithm);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mSuperior);
    
    void update(std::vector<ISM::Object> pEvidenceList);
    
    void calculateSceneProbaility();
    
    boost::shared_ptr<SceneIdentifier> getSceneIdentifier();
        
    void setSceneIdentifier(boost::shared_ptr<SceneIdentifier> pIdentifier);
    
  private:
    
    std::ofstream mRuntimeFile;
    
    boost::shared_ptr<SceneIdentifier> mIdentifier;
    
    boost::shared_ptr<SceneContent> mContent;
    
    boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> mVisualizer;
  };
}