Definition at line 16 of file CTopLCDetector_FabMap.h.
#include <mrpt/hmtslam/CTopLCDetector_FabMap.h>
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| ~CTopLCDetector_FabMap () override |
| Destructor. More...
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mrpt::poses::CPose3DPDF::Ptr | computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNode::Ptr ¤tArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik) override |
| This method must compute the topological observation model. More...
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void | OnNewPose (const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF) override |
| Hook method for being warned about the insertion of a new poses into the maps. More...
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virtual void | reset () |
| Reset the internal state of the TLCD, if any. More...
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virtual bool | computeSSOBetweenObservations ([[maybe_unused]] const THypothesisID &hypID, [[maybe_unused]] const TPoseID &poseID1, [[maybe_unused]] const TPoseID &poseID2, [[maybe_unused]] double &out_SSO) |
| If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. More...
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virtual void | OnNewPose ([[maybe_unused]] const TPoseID &poseID, [[maybe_unused]] const mrpt::obs::CSensoryFrame *SF) |
| Hook method for being warned about the insertion of a new poses into the maps. More...
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◆ Ptr
◆ CTopLCDetector_FabMap()
CTopLCDetector_FabMap::CTopLCDetector_FabMap |
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CHMTSLAM * |
hmtslam | ) |
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protected |
Definition at line 23 of file CTopLCDetector_FabMap.cpp.
References mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::df_lik_smooth, m_fabmap, mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam, mrpt::hmtslam::CHMTSLAM::m_options, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::p_at_new_place, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::p_obs_given_exists, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::vocab_path, and mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::vocabName.
Referenced by createNewInstance().
◆ ~CTopLCDetector_FabMap()
CTopLCDetector_FabMap::~CTopLCDetector_FabMap |
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override |
◆ computeSSOBetweenObservations()
virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations |
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[[maybe_unused] ] const THypothesisID & |
hypID, |
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[[maybe_unused] ] const TPoseID & |
poseID1, |
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[[maybe_unused] ] const TPoseID & |
poseID2, |
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[[maybe_unused] ] double & |
out_SSO |
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) |
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inlinevirtualinherited |
If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
- Parameters
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out_SSO | The output, in the range [0,1]. |
- Returns
- true if computed SSO is meaningful. The default virtual method returns false.
Definition at line 61 of file CTopLCDetectorBase.h.
◆ computeTopologicalObservationModel()
This method must compute the topological observation model.
- Parameters
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out_log_lik | The output, a log-likelihood. |
- Returns
- nullptr (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
- Parameters
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out_log_lik | The output, a log-likelihood. |
- Returns
- nullptr, or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
Implements mrpt::hmtslam::CTopLCDetectorBase.
Definition at line 63 of file CTopLCDetector_FabMap.cpp.
◆ createNewInstance()
◆ OnNewPose() [1/2]
Hook method for being warned about the insertion of a new poses into the maps.
This should be independent of hypothesis IDs.
Definition at line 76 of file CTopLCDetector_FabMap.cpp.
◆ OnNewPose() [2/2]
virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose |
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[[maybe_unused] ] const TPoseID & |
poseID, |
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[[maybe_unused] ] const mrpt::obs::CSensoryFrame * |
SF |
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inlinevirtualinherited |
Hook method for being warned about the insertion of a new poses into the maps.
This should be independent of hypothesis IDs.
Definition at line 74 of file CTopLCDetectorBase.h.
◆ reset()
virtual void mrpt::hmtslam::CTopLCDetectorBase::reset |
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inlinevirtualinherited |
Reset the internal state of the TLCD, if any.
This is needed since the objects are created while loading HMT-SLAM options, but the algorithm may be re-started after that at any time.
Definition at line 41 of file CTopLCDetectorBase.h.
◆ m_fabmap
void* mrpt::hmtslam::CTopLCDetector_FabMap::m_fabmap |
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protected |
◆ m_hmtslam
CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam |
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protectedinherited |