SceneModelLearner.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/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>

#include <visualization/psm/ProbabilisticSceneModelVisualization.h>

// Local includes
#include "learner/SceneLearner.h"

#include "learner/background/BackgroundSceneLearner.h"

#include "learner/foreground/ForegroundSceneLearner.h"

#include "learner/foreground/ocm/OcmForegroundSceneLearner.h"

#include <ISM/common_type/ObjectSet.hpp>
namespace ProbabilisticSceneRecognition {
  
  static const std::string OCM_SCENE_MODEL = "ocm";
  
  class SceneModelLearner {    
  public:

    SceneModelLearner(std::string pForegroundSceneModel, double pWorkspaceVolume, double pStaticBreakRatio, double pTogetherRatio, double pMaxAngleDeviation);
    
    ~SceneModelLearner();
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> mSuperior);
    
    void addExample(const ISM::ObjectSetPtr pExample);
    
    void generateSceneModel();
    
    void saveSceneModelToFile(std::string pPathToFile);
    
  private:
    
    std::string mForegroundSceneModel;
    
    double mWorkspaceVolume;
    
    double mStaticBreakRatio, mTogetherRatio, mMaxAngleDeviation;
    
    BackgroundSceneLearner mBackgroundSceneLearner;
    
    std::vector<boost::shared_ptr<ForegroundSceneLearner> > mSceneLearners;
  };
}