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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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coverage-report.sh
+8 -2
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@@ -124,10 +124,15 @@ echo "Running tests..."
)
echo "Capturing coverage..."
# The whole of corelib/utilite, test objects included, not just their src/. An inline
# function defined in a header is emitted in whichever translation unit wins comdat
# folding, which is often a test one, and its counters then live in that unit's .gcda:
# capturing only src/ reports such a function as uncovered however often it is called.
# The test sources themselves are dropped below, after the counters are read.
lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
--capture \
--directory "$BUILD_DIR/corelib/src" \
--directory "$BUILD_DIR/utilite/src" \
--directory "$BUILD_DIR/corelib" \
--directory "$BUILD_DIR/utilite" \
--output-file "$INFO_FILE"
echo "Filtering coverage data (repo sources only)..."
@@ -144,6 +149,7 @@ lcov "${LCOV_IGNORE[@]}" --remove "$INFO_FILE" \
'*/rtflann/*' \
'*/corelib/test/*' \
'*/utilite/test/*' \
'*/_deps/*' \
--output-file "$INFO_FILE"
echo "Generating HTML..."