learner/foreground/ocm/ocm/shape/GaussianKernel.h

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#pragma once

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

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

#include <visualization/psm/ProbabilisticSecondarySceneObjectVisualization.h>

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

namespace ProbabilisticSceneRecognition {

namespace PSMLearner {

  class GaussianKernel {
  public:

    GaussianKernel();
    
    ~GaussianKernel();
    
    void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> mSuperior);
    
    bool compare(const GaussianKernel pKernel);
    
    void save(boost::property_tree::ptree& pPt);
    
  public:
    
    double mWeight;
    
    boost::shared_ptr<Eigen::VectorXd> mMean;
    
    boost::shared_ptr<Eigen::MatrixXd> mCovariance;
  };
}
}