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 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);

        /** 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) override;  // See base docs
                void dumpToTextStream(
                        mrpt::utils::CStream& out) const 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