SceneLearner.h

Go to the documentation of this file.

#pragma once

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

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

#include <visualization/psm/ProbabilisticSceneModelVisualization.h>

//local includes
#include <ISM/common_type/ObjectSet.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneLearner {    
  public:

    SceneLearner(std::string pSceneName);
    
    SceneLearner();

    virtual ~SceneLearner();
    
    virtual void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mSuperior) = 0;
    
    virtual void save(boost::property_tree::ptree& pPt) = 0;
    
    virtual void learn() = 0;
    
    bool isExampleForScene(const ISM::ObjectSetPtr pExample);
    
    void addExampleToScene(const ISM::ObjectSetPtr pExample);

    void setVolumeOfWorkspace(double pValue);
    
    void setPriori(double pPriori);
    
  protected:
    
    double mPriori;
    
    double mWorkspaceVolume;
    
    std::string mSceneName;
    
    std::vector<ISM::ObjectSetPtr> mExamplesList;
  };
}