Public Member Functions
	BayesFilter (const ParametersMap &parameters=ParametersMap())
const std::map< int, float > &	computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
cv::Mat	generatePrediction (const Memory *memory, const std::vector< int > &ids)
const std::map< int, float > &	getPosterior () const
const std::vector< double > &	getPredictionLC () const
std::string	getPredictionLCStr () const
float	getVirtualPlacePrior () const
virtual void	parseParameters (const ParametersMap &parameters)
void	reset ()
void	setPredictionLC (const std::string &prediction)
virtual	~BayesFilter ()
Private Member Functions
void	normalize (cv::Mat &prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const
void	updatePosterior (const Memory *memory, const std::vector< int > &likelihoodIds)
cv::Mat	updatePrediction (const cv::Mat &oldPrediction, const Memory *memory, const std::vector< int > &oldIds, const std::vector< int > &newIds)
Private Attributes
bool	_fullPredictionUpdate
std::map< int, std::map< int, int > >	_neighborsIndex
std::map< int, float >	_posterior
cv::Mat	_prediction
std::vector< double >	_predictionLC
float	_totalPredictionLCValues
float	_virtualPlacePrior

Detailed Description

Definition at line 44 of file BayesFilter.h.

Constructor & Destructor Documentation

rtabmap::BayesFilter::BayesFilter ( const ParametersMap & parameters = ParametersMap() )

Definition at line 43 of file BayesFilter.cpp.

rtabmap::BayesFilter::~BayesFilter ( ) [virtual]

Definition at line 52 of file BayesFilter.cpp.

const std::map< int, float > & rtabmap::BayesFilter::computePosterior	(	const Memory *	memory,
		const std::map< int, float > &	likelihood
	)

Definition at line 136 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::generatePrediction	(	const Memory *	memory,
		const std::vector< int > &	ids
	)

Definition at line 264 of file BayesFilter.cpp.

const std::map<int, float>& rtabmap::BayesFilter::getPosterior ( ) const [inline]

Definition at line 57 of file BayesFilter.h.

const std::vector< double > & rtabmap::BayesFilter::getPredictionLC ( ) const

Definition at line 109 of file BayesFilter.cpp.

std::string rtabmap::BayesFilter::getPredictionLCStr ( ) const

Definition at line 115 of file BayesFilter.cpp.

float rtabmap::BayesFilter::getVirtualPlacePrior ( ) const [inline]

Definition at line 58 of file BayesFilter.h.

void rtabmap::BayesFilter::normalize	(	cv::Mat &	prediction,
		unsigned int	index,
		float	addedProbabilitiesSum,
		bool	virtualPlaceUsed
	)		const `[private]`

Definition at line 404 of file BayesFilter.cpp.

void rtabmap::BayesFilter::parseParameters ( const ParametersMap & parameters ) [virtual]

Definition at line 55 of file BayesFilter.cpp.

void rtabmap::BayesFilter::reset ( )

Definition at line 129 of file BayesFilter.cpp.

void rtabmap::BayesFilter::setPredictionLC ( const std::string & prediction )

Definition at line 69 of file BayesFilter.cpp.

void rtabmap::BayesFilter::updatePosterior	(	const Memory *	memory,
		const std::vector< int > &	likelihoodIds
	)		`[private]`

Definition at line 667 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::updatePrediction	(	const cv::Mat &	oldPrediction,
		const Memory *	memory,
		const std::vector< int > &	oldIds,
		const std::vector< int > &	newIds
	)		`[private]`