BayesFilter.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef BAYESFILTER_H_
29 #define BAYESFILTER_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
33 #include <opencv2/core/core.hpp>
34 #include <list>
35 #include <set>
38 
39 namespace rtabmap {
40 
41 class Memory;
42 class Signature;
43 
45 {
46 public:
47  BayesFilter(const ParametersMap & parameters = ParametersMap());
48  virtual ~BayesFilter();
49  virtual void parseParameters(const ParametersMap & parameters);
50  const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
51  void reset();
52 
53  //setters
54  void setPredictionLC(const std::string & prediction);
55 
56  //getters
57  const std::map<int, float> & getPosterior() const {return _posterior;}
58  float getVirtualPlacePrior() const {return _virtualPlacePrior;}
59  const std::vector<double> & getPredictionLC() const; // {Vp, Lc, l1, l2, l3, l4...}
60  std::string getPredictionLCStr() const; // for convenience {Vp, Lc, l1, l2, l3, l4...}
61 
62  cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
63 
64  unsigned long getMemoryUsed() const;
65 
66 private:
67  cv::Mat updatePrediction(const cv::Mat & oldPrediction,
68  const Memory * memory,
69  const std::vector<int> & oldIds,
70  const std::vector<int> & newIds);
71  void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
72  void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
73 
74 private:
75  std::map<int, float> _posterior;
76  cv::Mat _prediction;
78  std::vector<double> _predictionLC; // {Vp, Lc, l1, l2, l3, l4...}
82  std::map<int, std::map<int, int> > _neighborsIndex;
83 };
84 
85 } // namespace rtabmap
86 
87 #endif /* BAYESFILTER_H_ */
float _totalPredictionLCValues
Definition: BayesFilter.h:80
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
GLM_FUNC_DECL genType normalize(genType const &x)
std::map< int, std::map< int, int > > _neighborsIndex
Definition: BayesFilter.h:82
const std::map< int, float > & getPosterior() const
Definition: BayesFilter.h:57
std::map< int, float > _posterior
Definition: BayesFilter.h:75
std::vector< double > _predictionLC
Definition: BayesFilter.h:78
float getVirtualPlacePrior() const
Definition: BayesFilter.h:58


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:27