i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Small refactoring of the Bayes filter

Browse Source
This commit is contained in:
matlabbe
2015-06-22 13:55:15 -04:00
parent 290df19cc6
commit 91a4506956
3 changed files with 5 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+2 -3
View File
@@ -1116,7 +1116,6 @@ bool Rtabmap::process(
//============================================================
ULOGGER_INFO("computing likelihood...");
// select only not empty signatures (may happen often if intermediate nodes are created)
std::list<int> signaturesToCompare;
for(std::map<int, double>::const_iterator iter=_memory->getWorkingMem().begin();
iter!=_memory->getWorkingMem().end();
@@ -1126,7 +1125,7 @@ bool Rtabmap::process(
{
const Signature * s = _memory->getSignature(iter->first);
UASSERT(s!=0);
if(!_bayesFilter->isBadSignaturesIgnored() || !s->isBadSignature())
if(s->getWeight() != -1) // ignore intermediate nodes
{
signaturesToCompare.push_back(iter->first);
}
@@ -2780,7 +2779,7 @@ void Rtabmap::dumpPrediction() const
{
const Signature * s = _memory->getSignature(iter->first);
UASSERT(s!=0);
if(!_bayesFilter->isBadSignaturesIgnored() || !s->isBadSignature())
if(s->getWeight() != -1) // ignore intermediate nodes
{
signaturesToCompare.push_back(iter->first);
}