i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-12 12:59:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Sparse Bayes

Browse Source
This commit is contained in:
matlabbe
2026-08-18 18:27:43 -07:00
parent f647014f54
commit 2f4ac946f6
8 changed files with 1220 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/ui/preferencesDialog.ui
+33 -10
View File
@@ -12591,14 +12591,14 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_rtabmap_loopGPS">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_globalDescriptorExtractor">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -12628,7 +12628,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_502">
<property name="text">
<string>Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection.</string>
@@ -12648,7 +12648,30 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_bayes_sparsePrediction">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_bayes_sparsePrediction">
<property name="text">
<string>Keep the prediction in a sparse form and multiply it sparsely. A column of the prediction only holds the neighbors of one location within the depth of the prediction of loop closures above, so on a large map the matrix is mostly zeros and the dense multiplication spends all of its time reading them. In localization mode the sparse form is built directly and the matrix, which costs the size of the working memory squared, is not allocated at all. Ignored when the values above sum to less than 1, as the missing probability is then spread over every zero of each column and the prediction is no longer sparse.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
@@ -12658,7 +12681,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
<property name="maximum">
<double>1.000000000000000</double>
@@ -12671,7 +12694,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_113">
<property name="text">
<string>The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</string>
@@ -12684,7 +12707,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_82">
<property name="text">
<string>Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other.</string>
@@ -12697,7 +12720,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_6031">
<property name="text">
<string>Global descriptor extractor.</string>
@@ -12710,7 +12733,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_757">
<property name="text">
<string>Likelihood ratio for VP.</string>
@@ -12723,7 +12746,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_virtualPlaceLikelihoodRatio">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>