BayesFilter.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef BAYESFILTER_H_
00029 #define BAYESFILTER_H_
00030 
00031 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
00032 
00033 #include <opencv2/core/core.hpp>
00034 #include <list>
00035 #include <set>
00036 #include "rtabmap/utilite/UEventsHandler.h"
00037 #include "rtabmap/core/Parameters.h"
00038 
00039 namespace rtabmap {
00040 
00041 class Memory;
00042 class Signature;
00043 
00044 class RTABMAP_EXP BayesFilter
00045 {
00046 public:
00047         BayesFilter(const ParametersMap & parameters = ParametersMap());
00048         virtual ~BayesFilter();
00049         virtual void parseParameters(const ParametersMap & parameters);
00050         const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
00051         void reset();
00052 
00053         //setters
00054         void setPredictionLC(const std::string & prediction);
00055 
00056         //getters
00057         const std::map<int, float> & getPosterior() const {return _posterior;}
00058         float getVirtualPlacePrior() const {return _virtualPlacePrior;}
00059         const std::vector<double> & getPredictionLC() const; // {Vp, Lc, l1, l2, l3, l4...}
00060         std::string getPredictionLCStr() const; // for convenience {Vp, Lc, l1, l2, l3, l4...}
00061 
00062         cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
00063 
00064 private:
00065         cv::Mat updatePrediction(const cv::Mat & oldPrediction,
00066                         const Memory * memory,
00067                         const std::vector<int> & oldIds,
00068                         const std::vector<int> & newIds);
00069         void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
00070         void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
00071 
00072 private:
00073         std::map<int, float> _posterior;
00074         cv::Mat _prediction;
00075         float _virtualPlacePrior;
00076         std::vector<double> _predictionLC; // {Vp, Lc, l1, l2, l3, l4...}
00077         bool _fullPredictionUpdate;
00078         float _totalPredictionLCValues;
00079         std::map<int, std::map<int, int> > _neighborsIndex;
00080 };
00081 
00082 } // namespace rtabmap
00083 
00084 #endif /* BAYESFILTER_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:18