inference/model/foreground/ocm/shape/GaussianKernel.h

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#pragma once

// Global includes
#include <cmath>
#include <vector>
#include <random>

// Package includes
#include <Eigen/Core>
#include <Eigen/Geometry>

#include <asr_msgs/AsrObject.h>

#include <boost/foreach.hpp>
#include <boost/property_tree/ptree.hpp>

#include <visualization/psm/ProbabilisticSecondarySceneObjectVisualization.h>

// Local includes
#include "helper/SerializationHelper.h"

namespace ProbabilisticSceneRecognition {

namespace PSMInference {
  
  class GaussianKernel {
  private:
    
    static const int MC_SAMPLES = 100;
  public:

    GaussianKernel(unsigned int pDimension, boost::property_tree::ptree& pPt);
    
    ~GaussianKernel();
    
    void load(boost::property_tree::ptree& pPt);
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> mVisualizer);
    
    void visualize(boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> mVisualizer,
                   Eigen::VectorXd pEvidence);
    
    double evaluate(Eigen::VectorXd pEvidence);
    
    double getWeight();
    
  private:
    
    unsigned int mDimension;
    
    double mWeight;
    
    boost::shared_ptr<Eigen::VectorXd> mMean;
    
    boost::shared_ptr<Eigen::MatrixXd> mCovariance;
    
    boost::shared_ptr<Eigen::Vector3d> mPositionMean;
    
    boost::shared_ptr<Eigen::Matrix3d> mPositionCovariance;
  };
}
}