SceneLearningEngine.h

Go to the documentation of this file.

#pragma once

// Global includes
#include <string>

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

#include <boost/shared_ptr.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>

#include <visualization/psm/ProbabilisticSceneModelVisualization.h>


// Local includes
#include "learner/SceneModelLearner.h"
#include <ISM/utility/TableHelper.hpp>
#include <ISM/common_type/RecordedPattern.hpp>


namespace ProbabilisticSceneRecognition {
  
  class SceneLearningEngine {
  public:

    SceneLearningEngine();

    ~SceneLearningEngine();

    void readLearnerInput();
    
    void extractTracksFromDbFile(const std::string& dbFileName);

    void generateSceneModel();

    void saveSceneModel();
    
    void visualizeSceneModel();
    void learn();
    
  private:
    
    void initializeSceneModel(double pWorkspaceVolume, double mStaticBreakRatio, double mTogetherRatio, double mMaxAngleDeviation);
    
    void initializeVisualizationChain();
    
    /************************************
     * ROS
     ************************************/
    
    ros::NodeHandle mGeneratorHandle;
    
    ros::NodeHandle mPrivateNamespaceHandle;
    
    boost::shared_ptr<ISM::TableHelper> tableHelper;
        
    /************************************
     * Scene model
     ************************************/
    
    bool mIntermediateResults;
    
    bool mAddTimestampsToFilename;
    
    std::string mBaseFrameId;
    
    double mScaleFactor;
    
    double mSigmaMultiplicator;
    
    std::string mDateTime;
    
    std::string mSceneModelName;
    
    std::string mSceneModelType;
    
    std::string mSceneModelDirectory;

    std::string mInputDbFilename;

    ISM::RecordedPatternPtr recordedPattern;
    boost::shared_ptr<SceneModelLearner> mSceneModelLearner;
    
    boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mVisualizer;
  };
}