CTopLCDetector_FabMap.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

namespace mrpt::hmtslam
{
/** \ingroup mrpt_hmtslam_grp */
class CTopLCDetector_FabMap : public CTopLCDetectorBase
{
   protected:
    CTopLCDetector_FabMap(CHMTSLAM* hmtslam);

    void* m_fabmap;  // FabMapInstance*

   public:
    /** A class factory, to be implemented in derived classes.
     */
    static CTopLCDetectorBase* createNewInstance(CHMTSLAM* hmtslam)
    {
        return static_cast<CTopLCDetectorBase*>(
            new CTopLCDetector_FabMap(hmtslam));
    }

    /** Destructor */
    ~CTopLCDetector_FabMap() override;

    /** This method must compute the topological observation model.
     * \param out_log_lik The output, a log-likelihood.
     * \return nullptr (empty smart pointer), or a PDF of the estimated
     * translation between the two areas (can be a multi-modal PDF).
     */
    mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
        const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
        const CHMHMapNode::Ptr& refArea, double& out_log_lik) override;

    /** Hook method for being warned about the insertion of a new poses into the
     * maps.
     *  This should be independent of hypothesis IDs.
     */
    void OnNewPose(
        const TPoseID& poseID, const mrpt::obs::CSensoryFrame* SF) override;

    /** Options for a TLC-detector of type FabMap, used from CHMTSLAM
     */
    struct TOptions : public mrpt::config::CLoadableOptions
    {
        /** Initialization of default params
         */
        TOptions();

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

        std::string vocab_path, vocabName;
        double p_obs_given_exists{0.39}, p_at_new_place{0.99},
            df_lik_smooth{0.99};
    };

};  // end class
}  // namespace mrpt::hmtslam