Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::BayesFilter Class Reference

#include <BayesFilter.h>

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)
 
unsigned long getMemoryUsed () const
 
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
 
float _predictionEpsilon
 
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 53 of file BayesFilter.cpp.

Member Function Documentation

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

Definition at line 145 of file BayesFilter.cpp.

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

Definition at line 273 of file BayesFilter.cpp.

unsigned long rtabmap::BayesFilter::getMemoryUsed ( ) const

Definition at line 420 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 118 of file BayesFilter.cpp.

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

Definition at line 124 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 434 of file BayesFilter.cpp.

void rtabmap::BayesFilter::parseParameters ( const ParametersMap parameters)
virtual

Definition at line 56 of file BayesFilter.cpp.

void rtabmap::BayesFilter::reset ( )

Definition at line 138 of file BayesFilter.cpp.

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

Definition at line 70 of file BayesFilter.cpp.

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

Definition at line 712 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

Definition at line 501 of file BayesFilter.cpp.

Member Data Documentation

bool rtabmap::BayesFilter::_fullPredictionUpdate
private

Definition at line 79 of file BayesFilter.h.

std::map<int, std::map<int, int> > rtabmap::BayesFilter::_neighborsIndex
private

Definition at line 82 of file BayesFilter.h.

std::map<int, float> rtabmap::BayesFilter::_posterior
private

Definition at line 75 of file BayesFilter.h.

cv::Mat rtabmap::BayesFilter::_prediction
private

Definition at line 76 of file BayesFilter.h.

float rtabmap::BayesFilter::_predictionEpsilon
private

Definition at line 81 of file BayesFilter.h.

std::vector<double> rtabmap::BayesFilter::_predictionLC
private

Definition at line 78 of file BayesFilter.h.

float rtabmap::BayesFilter::_totalPredictionLCValues
private

Definition at line 80 of file BayesFilter.h.

float rtabmap::BayesFilter::_virtualPlacePrior
private

Definition at line 77 of file BayesFilter.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08