Sparse Bayes

corelib/test/CMakeLists.txt

@@ -119,6 +119,22 @@ IF(BUILD_PERF_TESTS)
 	set_tests_properties(test_flann_index_perf PROPERTIES
 			TIMEOUT ${_perf_timeout}
 			LABELS  "performance")
+
+	# Comparison of the dense and the sparse prediction x posterior multiplication of
+	# BayesFilter (Bayes/SparsePrediction), against the size of the map, how connected
+	# its graph is and the depth of the prediction model:
+	#   bin/test_bayesfilter_perf
+	#   bin/test_bayesfilter_perf --gtest_filter=-*LargeMap*
+	# Its own executable: it spends its time benchmarking rather than asserting, and the
+	# largest map it builds allocates a gigabyte for the dense prediction matrix,
+	# which in a unit test shard would look like a leak.
+	add_executable(test_bayesfilter_perf perf_bayesfilter.cpp)
+	target_link_libraries(test_bayesfilter_perf gtest_main rtabmap_core)
+
+	add_test(NAME test_bayesfilter_perf COMMAND test_bayesfilter_perf)
+	set_tests_properties(test_bayesfilter_perf PROPERTIES
+			TIMEOUT ${_perf_timeout}
+			LABELS  "performance")
 ENDIF(BUILD_PERF_TESTS)
 
 # Rtabmap end-to-end replay of sample DBs (test data fetched by