diff --git a/preview/pr-1748/api/latest/BayesFilter_8h_source.html b/preview/pr-1748/api/latest/BayesFilter_8h_source.html index 9c426d75..ea7b3612 100644 --- a/preview/pr-1748/api/latest/BayesFilter_8h_source.html +++ b/preview/pr-1748/api/latest/BayesFilter_8h_source.html @@ -193,29 +193,31 @@ $(document).ready(function(){initNavTree('BayesFilter_8h_source.html',''); initR
194private:
200 void updatePosterior(const Memory * memory, const std::map<int, float> & likelihood);
201
-
202private:
-
203 std::vector<int> _posteriorIds;
-
204 std::vector<float> _posteriorValues;
-
205 std::vector<int> _likelihoodIds;
-
206 std::vector<float> _likelihoodValues;
-
207 std::vector<float> _priorValues;
-
208
-
209 bayes::PredictionModel * _model;
-
210 bayes::DensePrediction * _dense;
-
211 bayes::SparsePrediction * _sparse;
-
212 std::map<int, std::map<int, int> > _neighborsIndex;
-
213
-
214 bool _fullPredictionUpdate;
-
215 bool _sparsePrediction;
-
216 bool _predictionChanged;
-
217 bool _sparsePredictionRejected;
-
218};
- -
219
-
220} // namespace rtabmap
- +
208 void updateKeepSparse();
+
209
+
210private:
+
211 std::vector<int> _posteriorIds;
+
212 std::vector<float> _posteriorValues;
+
213 std::vector<int> _likelihoodIds;
+
214 std::vector<float> _likelihoodValues;
+
215 std::vector<float> _priorValues;
+
216
+
217 bayes::PredictionModel * _model;
+
218 bayes::DensePrediction * _dense;
+
219 bayes::SparsePrediction * _sparse;
+
220 std::map<int, std::map<int, int> > _neighborsIndex;
221
-
222#endif /* BAYESFILTER_H_ */
+
222 bool _fullPredictionUpdate;
+
223 bool _sparsePrediction;
+
224 bool _keepSparse;
+
225 bool _predictionChanged;
+
226};
+ +
227
+
228} // namespace rtabmap
+ +
229
+
230#endif /* BAYESFILTER_H_ */
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:82
rtabmap::BayesFilter::getPredictionLCStr
std::string getPredictionLCStr() const
Returns the loop-closure prediction model as a space-separated string.
rtabmap::BayesFilter::getVirtualPlacePrior
float getVirtualPlacePrior() const
Returns the virtual place prior threshold.
diff --git a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html index bd4ff308..dbc60e2f 100644 --- a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html +++ b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html @@ -401,7 +401,7 @@ void reset ()

Whether the prediction is being kept in its sparse form rather than as a matrix.

-

False when Parameters::kBayesSparsePrediction() is disabled, and while it is enabled over a prediction measured as too dense for the sparse form to be worth it.

+

False when Parameters::kBayesSparsePrediction() is disabled, and over a model whose values sum to less than 1, which leaves no zero in a column to keep out of the values.

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