SceneModelDescription.h

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#pragma once

// Global includes
#include <vector>

// Package includes
#include <ros/ros.h>
#include <ros/console.h>

#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/filesystem.hpp>
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneModelVisualization.h>

// Local includes
#include "inference/model/ObjectEvidence.h"
#include "inference/model/SceneIdentifier.h"
#include "inference/model/SceneDescription.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class SceneModelDescription {    
  public:

    SceneModelDescription();
    
    ~SceneModelDescription();
    
    void loadModelFromFile(std::string pPathToFile, std::string pAlgorithm);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mSuperior);
    
    void integrateEvidence(const boost::shared_ptr<const ISM::Object>& pObject);
    
    void updateModel();
    
    void getSceneListWithProbabilities(std::vector<SceneIdentifier>& pSceneList);
    
  private:
    
    ObjectEvidence mObjectEvidence;
    
    std::vector<ISM::Object> mEvidenceList;
    
    std::vector<boost::shared_ptr<SceneDescription> > mScenes;
  };
}