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Preview for PR #1748 df9cbc06ea12eb48806863d58f917ca87c6b89f1
This commit is contained in:
github-actions[bot]
@@ -193,29 +193,31 @@ $(document).ready(function(){initNavTree('BayesFilter_8h_source.html',''); initR
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">void</span> updatePosterior(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory, <span class="keyword">const</span> std::map<int, float> & likelihood);</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> std::vector<int> _posteriorIds; </div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> std::vector<float> _posteriorValues; </div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> std::vector<int> _likelihoodIds; </div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> std::vector<float> _likelihoodValues; </div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> std::vector<float> _priorValues; </div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> bayes::PredictionModel * _model; </div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> bayes::DensePrediction * _dense; </div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> bayes::SparsePrediction * _sparse; </div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> std::map<int, std::map<int, int> > _neighborsIndex; </div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">bool</span> _fullPredictionUpdate; </div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">bool</span> _sparsePrediction; </div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">bool</span> _predictionChanged; </div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">bool</span> _sparsePredictionRejected; </div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>};</div>
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</div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> </div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span>} <span class="comment">// namespace rtabmap</span></div>
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</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">void</span> updateKeepSparse();</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> std::vector<int> _posteriorIds; </div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> std::vector<float> _posteriorValues; </div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> std::vector<int> _likelihoodIds; </div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> std::vector<float> _likelihoodValues; </div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> std::vector<float> _priorValues; </div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> </div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> bayes::PredictionModel * _model; </div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> bayes::DensePrediction * _dense; </div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> bayes::SparsePrediction * _sparse; </div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> std::map<int, std::map<int, int> > _neighborsIndex; </div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span><span class="preprocessor">#endif </span><span class="comment">/* BAYESFILTER_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">bool</span> _fullPredictionUpdate; </div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">bool</span> _sparsePrediction; </div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">bool</span> _keepSparse; </div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">bool</span> _predictionChanged; </div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span>};</div>
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</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span>} <span class="comment">// namespace rtabmap</span></div>
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</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span><span class="preprocessor">#endif </span><span class="comment">/* BAYESFILTER_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1BayesFilter_html"><div class="ttname"><a href="classrtabmap_1_1BayesFilter.html">rtabmap::BayesFilter</a></div><div class="ttdoc">Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00081">BayesFilter.h:82</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1BayesFilter_html_a18a6d97fe3088a4a356a85358f641376"><div class="ttname"><a href="classrtabmap_1_1BayesFilter.html#a18a6d97fe3088a4a356a85358f641376">rtabmap::BayesFilter::getPredictionLCStr</a></div><div class="ttdeci">std::string getPredictionLCStr() const</div><div class="ttdoc">Returns the loop-closure prediction model as a space-separated string.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1BayesFilter_html_a1f479b2d242f05eef69532f454dc851f"><div class="ttname"><a href="classrtabmap_1_1BayesFilter.html#a1f479b2d242f05eef69532f454dc851f">rtabmap::BayesFilter::getVirtualPlacePrior</a></div><div class="ttdeci">float getVirtualPlacePrior() const</div><div class="ttdoc">Returns the virtual place prior threshold.</div></div>
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@@ -401,7 +401,7 @@ void </td><td class="memItemRight" valign="bottom"><b>reset</b> ()</td></tr
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</div><div class="memdoc">
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<p>Whether the prediction is being kept in its sparse form rather than as a matrix. </p>
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<p>False when <a class="el" href="classrtabmap_1_1Parameters.html#ae8141b0f2cc33d7e47b8a5f4fc558bc1">Parameters::kBayesSparsePrediction()</a> is disabled, and while it is enabled over a prediction measured as too dense for the sparse form to be worth it. </p>
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<p>False when <a class="el" href="classrtabmap_1_1Parameters.html#ae8141b0f2cc33d7e47b8a5f4fc558bc1">Parameters::kBayesSparsePrediction()</a> 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. </p>
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</div>
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</div>
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