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Sparse Bayes (#1748)

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* Sparse Bayes

* updated perf test

* improved tests with real data

* Making sparse works in incremental mapping

* bookkeeping optimization

* small opt

* refactoring

* splitting dense and sparse in different classes to make the code more lisible

* cleanup comments

* fixing CI

* Making all Bayes tests testing both dense and sparse

* Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings)

* optimized sparse when transfer/retrieval happens (was slower than dense for that case)

* Testing retrieval param variants

* Updated multisession_3it integration tests to compare loop closure hypotheses

* bump version

* Fixed ui sum of prediction

* adding g2o gtsam to linux ci

* cleanup

* added debug crash log for ci

* Simplified Bayes/SparsePrediction description

* Dont show too dense for sparse on small maps (e.g., when we just started a new map)

* fixing amd64v3 issue with gtsam on ci ubuntu 26

* Dot not auto switch to dense based on map size.

* updating test range

* added coverage tests

* Adressing coverage

* ignore one line in coverage for purpose
This commit is contained in:
matlabbe
2026-08-23 13:21:46 -07:00
committed by GitHub
parent f647014f54
commit 9c1e117384
32 changed files with 82886 additions and 769 deletions
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.github/workflows/cmake-ros.yml
+6 -1
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@@ -55,8 +55,13 @@ jobs:
if: steps.cache-testdata.outputs.cache-hit != 'true'
shell: bash
run: |
# The ROS images are slim; fetch_test_data.sh needs curl.
# The ROS images are slim; fetch_test_data.sh needs curl, and 7-Zip for
# the assets that come as an archive. The package holding it is
# p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones.
command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \
(apt-get install -y --no-install-recommends p7zip-full || \
apt-get install -y --no-install-recommends 7zip))
bash scripts/fetch_test_data.sh
# `${{ github.workspace }}` is expanded by the runner on the *host*