BayesFilter.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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*/

#ifndef BAYESFILTER_H_
#define BAYESFILTER_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <opencv2/core/core.hpp>
#include <list>
#include <set>
#include "rtabmap/utilite/UEventsHandler.h"
#include "rtabmap/core/Parameters.h"

namespace rtabmap {

class Memory;
class Signature;

class RTABMAP_EXP BayesFilter
{
public:
        BayesFilter(const ParametersMap & parameters = ParametersMap());
        virtual ~BayesFilter();
        virtual void parseParameters(const ParametersMap & parameters);
        const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
        void reset();

        //setters
        void setPredictionLC(const std::string & prediction);

        //getters
        const std::map<int, float> & getPosterior() const {return _posterior;}
        float getVirtualPlacePrior() const {return _virtualPlacePrior;}
        const std::vector<double> & getPredictionLC() const; // {Vp, Lc, l1, l2, l3, l4...}
        std::string getPredictionLCStr() const; // for convenience {Vp, Lc, l1, l2, l3, l4...}

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

private:
        cv::Mat updatePrediction(const cv::Mat & oldPrediction,
                        const Memory * memory,
                        const std::vector<int> & oldIds,
                        const std::vector<int> & newIds) const;
        void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
        float addNeighborProb(cv::Mat & prediction,
                        unsigned int col,
                        const std::map<int, int> & neighbors,
                        const std::map<int, int> & idToIndexMap) const;
        void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;

private:
        std::map<int, float> _posterior;
        cv::Mat _prediction;
        float _virtualPlacePrior;
        std::vector<double> _predictionLC; // {Vp, Lc, l1, l2, l3, l4...}
        bool _fullPredictionUpdate;
        float _totalPredictionLCValues;
};

} // namespace rtabmap

#endif /* BAYESFILTER_H_ */