SceneObjectLearner.h

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#pragma once

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

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

#include <visualization/psm/ProbabilisticSceneVisualization.h>

#include <trainer/PSMTrainer.h>

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

namespace ProbabilisticSceneRecognition {
  
  class SceneObjectLearner {    
  public:

    SceneObjectLearner(std::string pSceneObjectType);
    
    virtual ~SceneObjectLearner();
    
    virtual void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSceneVisualization> mSuperior) = 0;
    
    virtual void save(boost::property_tree::ptree& pPt) = 0;
    
    virtual void learn(std::vector<ISM::ObjectSetPtr> pExamplesList, boost::shared_ptr<SceneModel::TreeNode> tree) = 0;
   
    bool hasType(std::string pSceneObjectType);
    
    void setClusteringParameters(double pStaticBreakRatio, double pTogetherRatio, double pMaxAngleDeviation);
    
    void setVolumeOfWorkspace(double pValue);
    
    void setPriori(double pPriori);
    
  protected:
    
    double mPriori;
    
    std::string mSceneObjectType;
    
    double mWorkspaceVolume;
    
    double mStaticBreakRatio, mTogetherRatio, mMaxAngleDeviation;
  };
}