ShapeTermEvaluator.h

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#pragma once

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

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

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>

// Local includes
#include "inference/model/foreground/ocm/TermEvaluator.h"

#include "inference/model/foreground/ocm/shape/HierarchicalShapeModel.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class ShapeTermEvaluator : public TermEvaluator {
  public:

    ShapeTermEvaluator();
    
    ~ShapeTermEvaluator();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior);
    
    double calculateProbabilityForHypothesis(std::vector<ISM::Object> pEvidenceList, std::vector<unsigned int> pAssignments);

    
    void visualize(std::vector<ISM::Object> pEvidenceList);
    
    unsigned int getNumberOfSlots();
    
  private:
    
    HierarchicalShapeModel mHsm;
  };
}