MRPT  1.9.9
mrpt::poses::CPointPDFGaussian Class Referenceabstract

Detailed Description

A gaussian distribution for 3D points.

Also a method for bayesian fusion is provided.

See also
CPointPDF

Definition at line 22 of file CPointPDFGaussian.h.

#include <mrpt/poses/CPointPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPointPDFGaussian:

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPoint3D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPoint3D, STATE_LEN >
 
using cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
 Covariance matrix type. More...
 
using inf_mat_t = cov_mat_t
 Information matrix type. More...
 

Public Member Functions

 CPointPDFGaussian ()
 Default constructor. More...
 
 CPointPDFGaussian (const CPoint3D &init_Mean)
 Constructor. More...
 
 CPointPDFGaussian (const CPoint3D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov)
 Constructor. More...
 
void getMean (CPoint3D &p) const override
 
std::tuple< cov_mat_t, type_valuegetCovarianceAndMean () const override
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
void copyFrom (const CPointPDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
bool saveToTextFile (const std::string &file) const override
 Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void bayesianFusion (const CPointPDFGaussian &p1, const CPointPDFGaussian &p2)
 Bayesian fusion of two points gauss. More...
 
double productIntegralWith (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralWith2D (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralNormalizedWith (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralNormalizedWith2D (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
void drawSingleSample (CPoint3D &outSample) const override
 Draw a sample from the pdf. More...
 
void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override
 Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More...
 
double mahalanobisDistanceTo (const CPointPDFGaussian &other, bool only_2D=false) const
 Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
virtual void getMean (type_value &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (cov_mat_t &c, CPoint3D &mean) const final
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
type_value getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
void getCovariance (cov_mat_t &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
cov_mat_t getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
virtual bool isInfType () const
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
virtual void getInformationMatrix (inf_mat_t &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
virtual void drawSingleSample (CPoint3D &outPart) const=0
 Draws a single sample from the distribution. More...
 
virtual void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
 Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

CPoint3D mean
 The mean value. More...
 
mrpt::math::CMatrixDouble33 cov
 The 3x3 covariance matrix. More...
 

Static Public Attributes

static constexpr size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPointPDFGaussian >
 
using ConstPtr = std::shared_ptr< const CPointPDFGaussian >
 
using UniquePtr = std::unique_ptr< CPointPDFGaussian >
 
using ConstUniquePtr = std::unique_ptr< const CPointPDFGaussian >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPointPDFGaussian"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 24 of file CPointPDFGaussian.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>
inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 24 of file CPointPDFGaussian.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint3D , STATE_LEN>
inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 24 of file CPointPDFGaussian.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 64 of file CPointPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 69 of file CPointPDF.h.

Constructor & Destructor Documentation

◆ CPointPDFGaussian() [1/3]

CPointPDFGaussian::CPointPDFGaussian ( )

Default constructor.

Definition at line 33 of file CPointPDFGaussian.cpp.

◆ CPointPDFGaussian() [2/3]

CPointPDFGaussian::CPointPDFGaussian ( const CPoint3D init_Mean)

Constructor.

Definition at line 46 of file CPointPDFGaussian.cpp.

References cov, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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◆ CPointPDFGaussian() [3/3]

CPointPDFGaussian::CPointPDFGaussian ( const CPoint3D init_Mean,
const mrpt::math::CMatrixDouble33 init_Cov 
)

Constructor.

Definition at line 37 of file CPointPDFGaussian.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFGaussian::_GetBaseClass ( )
staticprotected

◆ bayesianFusion() [1/2]

void CPointPDFGaussian::bayesianFusion ( const CPointPDFGaussian p1,
const CPointPDFGaussian p2 
)

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

  • (x1,S1): Mean and variance of the p1 distribution.
  • (x2,S2): Mean and variance of the p2 distribution.
  • (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

Definition at line 157 of file CPointPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::poses::CPointPDFSOG::bayesianFusion(), and mrpt::maps::CLandmarksMap::fuseWith().

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◆ bayesianFusion() [2/2]

void CPointPDFGaussian::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double  minMahalanobisDistToDrop = 0 
)
overridevirtual

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implements mrpt::poses::CPointPDF.

Definition at line 279 of file CPointPDFGaussian.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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◆ changeCoordinatesReference()

void CPointPDFGaussian::changeCoordinatesReference ( const CPose3D newReferenceBase)
overridevirtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object. Both the mean value and the covariance matrix are updated correctly.

Implements mrpt::poses::CPointPDF.

Definition at line 142 of file CPointPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), cov, mrpt::poses::CPose3D::getRotationMatrix(), mean, and mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPointPDFGaussian::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPointPDFGaussian::copyFrom ( const CPointPDF o)
overridevirtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPointPDF.

Definition at line 114 of file CPointPDFGaussian.cpp.

References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

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◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPointPDFGaussian::Create ( Args &&...  args)
inlinestatic

Definition at line 24 of file CPointPDFGaussian.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPointPDFGaussian::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 24 of file CPointPDFGaussian.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPointPDFGaussian::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPointPDFGaussian::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 24 of file CPointPDFGaussian.h.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

void CPointPDFGaussian::drawSingleSample ( CPoint3D outSample) const
override

Draw a sample from the pdf.

Definition at line 261 of file CPointPDFGaussian.cpp.

References ASSERT_, cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 191 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 83 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 94 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPointPDFGaussian::getClassName ( )
inlinestatic

Definition at line 24 of file CPointPDFGaussian.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( cov_mat_t cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

std::tuple<cov_mat_t, type_value> mrpt::poses::CPointPDFGaussian::getCovarianceAndMean ( ) const
inlineoverridevirtual

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 47 of file CPointPDFGaussian.h.

References cov, and mean.

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPoint3D &  mean 
) const
inlinefinalvirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
type_value mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( inf_mat_t inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 130 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( type_value mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void CPointPDFGaussian::getMean ( CPoint3D p) const
override

Definition at line 57 of file CPointPDFGaussian.cpp.

References mean.

◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFGaussian::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPointPDFGaussian::GetRuntimeClassIdStatic ( )
static

◆ is_3D()

static constexpr bool mrpt::poses::CPointPDF::is_3D ( )
inlinestaticinherited

Definition at line 68 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPointPDF::is_PDF ( )
inlinestaticinherited

Definition at line 73 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See also
mrpt::traits::is_inf_type

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ mahalanobisDistanceTo()

double CPointPDFGaussian::mahalanobisDistanceTo ( const CPointPDFGaussian other,
bool  only_2D = false 
) const

Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0)

Definition at line 298 of file CPointPDFGaussian.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, mrpt::math::multiply_HCHt_scalar(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by productIntegralNormalizedWith(), and productIntegralNormalizedWith2D().

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◆ productIntegralNormalizedWith()

double CPointPDFGaussian::productIntegralNormalizedWith ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is in the range [0,1] Note that the resulting value is in fact

\[ exp( -\frac{1}{2} D^2 ) \]

, with $ D^2 $ being the square Mahalanobis distance between the two pdfs.

See also
productIntegralWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...

Definition at line 243 of file CPointPDFGaussian.cpp.

References mahalanobisDistanceTo(), and mrpt::square().

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◆ productIntegralNormalizedWith2D()

double CPointPDFGaussian::productIntegralNormalizedWith2D ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is in the range [0,1]. This versions ignores the "z" coordinate.

Note that the resulting value is in fact

\[ exp( -\frac{1}{2} D^2 ) \]

, with $ D^2 $ being the square Mahalanobis distance between the two pdfs.

See also
productIntegralWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...

Definition at line 252 of file CPointPDFGaussian.cpp.

References mahalanobisDistanceTo(), and mrpt::square().

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007().

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◆ productIntegralWith()

double CPointPDFGaussian::productIntegralWith ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is >=0.

See also
productIntegralNormalizedWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...

Definition at line 190 of file CPointPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), M_2PI, mean, MRPT_END, MRPT_START, mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >::state_length, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ productIntegralWith2D()

double CPointPDFGaussian::productIntegralWith2D ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is >=0. NOTE: This version ignores the "z" coordinates!!

See also
productIntegralNormalizedWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...

Definition at line 216 of file CPointPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixBase< Scalar, Derived >::blockCopy(), cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), M_2PI, mean, MRPT_END, MRPT_START, mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >::state_length, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ saveToTextFile()

bool CPointPDFGaussian::saveToTextFile ( const std::string file) const
overridevirtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 125 of file CPointPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ serializeFrom() [1/2]

void CPointPDFGaussian::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 64 of file CPointPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_double(), cov, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPointPDFGaussian::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 59 of file CPointPDFGaussian.cpp.

◆ serializeTo() [1/2]

void CPointPDFGaussian::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 60 of file CPointPDFGaussian.cpp.

References cov, and mean.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPointPDFGaussian::className = "CPointPDFGaussian"
static

Definition at line 24 of file CPointPDFGaussian.h.

◆ cov

◆ mean

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPointPDFGaussian::runtimeClassId
staticprotected

Definition at line 24 of file CPointPDFGaussian.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 32 of file CProbabilityDensityFunction.h.

Referenced by productIntegralWith(), and productIntegralWith2D().




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