SceneInferenceEngine.h

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#pragma once

// Global includes
#include <queue>

// Package includes
#include <ros/ros.h>
#include <rosbag/view.h>

#include <asr_msgs/AsrObject.h>

#include <visualization/gnuplot/GnuplotVisualization.h>
#include <visualization/psm/ProbabilisticSceneModelVisualization.h>

// Local includes
#include "helper/ObjectTransformation.h"

#include "inference/model/SceneIdentifier.h"
#include "inference/model/SceneModelDescription.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneInferenceEngine {
  public:

    SceneInferenceEngine();

    ~SceneInferenceEngine();
    
    void update();
    
    void executeInStackMode(); 
    
    void newObservationCallback(const boost::shared_ptr<asr_msgs::AsrObject>& pObject);
    
    SceneModelDescription getModel() {return mModel;}
    
  private:
    
    void loadSceneModel(const std::string pSceneModelFileName, const std::string pInferenceAlgorithm);
    
    void initializeVisualizationChain(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId);

    boost::shared_ptr<asr_msgs::AsrObject> ISMObjectToAsrObject(boost::shared_ptr<ISM::Object> pObject);

    boost::shared_ptr<ISM::Object> AsrObjectToISMObject(boost::shared_ptr<asr_msgs::AsrObject> pObject);
    
  private:
    
    bool showPlot;
    
    bool mTargetingHelp;
    
    ros::NodeHandle mNodeHandle;
    
    ros::Subscriber mObjectListener;
    
    ros::Subscriber mSceneGraphListener;
    
    std::queue<boost::shared_ptr<asr_msgs::AsrObject> > mEvidenceBuffer;
   
    ObjectTransformation mObjectTransform;
    
    SceneModelDescription mModel;
    
    Visualization::GnuplotVisualization mVisGnuplot;
    
    boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mVisualizer;
  };
}