i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed Bayes filter memory leak

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@580 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-27 13:29:06 +00:00
parent c2008a448c
commit 96600d75d4
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/BayesFilter.cpp
View File

@@ -168,7 +168,7 @@ const std::map<int, float> & BayesFilter::computePosterior(const Memory * memory
int j=0; int j=0;
// Recursive Bayes estimation... // Recursive Bayes estimation...
// STEP 1 - Prediction : Prior*lastPosterior // STEP 1 - Prediction : Prior*lastPosterior
prediction = cvCreateMat(likelihood.size(), likelihood.size(), CV_32FC1); prediction = cv::Mat(likelihood.size(), likelihood.size(), CV_32FC1);
if(this->generatePrediction(prediction, memory, uKeys(likelihood))) if(this->generatePrediction(prediction, memory, uKeys(likelihood)))
{ {
ULOGGER_DEBUG("STEP1-generate prior=%fs, rows=%d, cols=%d", timer.ticks(), prediction.rows, prediction.cols); ULOGGER_DEBUG("STEP1-generate prior=%fs, rows=%d, cols=%d", timer.ticks(), prediction.rows, prediction.cols);