CTopLCDetector_FabMap.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef _CTopLCDetector_FabMap_H
#define _CTopLCDetector_FabMap_H

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

namespace mrpt
{
        namespace 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 */
                        virtual ~CTopLCDetector_FabMap();

                        /** This method must compute the topological observation model.
                          * \param out_log_lik The output, a log-likelihood.
                          * \return NULL (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
                          */
                        mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(
                                const THypothesisID             &hypID,
                                const CHMHMapNodePtr    &currentArea,
                                const CHMHMapNodePtr    &refArea,
                                double                                  &out_log_lik
                                 );

                        /** 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 );


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

                                void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
                                void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs

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


                }; // end class
        } // end namespace
} // end namespace


#endif