i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 02:27:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Sparse Bayes (#1748)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PreferencesDialog.cpp
+7 -2
View File
@@ -1132,6 +1132,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_doubleSpinBox_vp->setObjectName(Parameters::kBayesVirtualPlacePriorThr().c_str());
_ui->lineEdit_bayes_predictionLC->setObjectName(Parameters::kBayesPredictionLC().c_str());
_ui->checkBox_bayes_fullPredictionUpdate->setObjectName(Parameters::kBayesFullPredictionUpdate().c_str());
_ui->checkBox_bayes_sparsePrediction->setObjectName(Parameters::kBayesSparsePrediction().c_str());
connect(_ui->lineEdit_bayes_predictionLC, SIGNAL(textChanged(const QString &)), this, SLOT(updatePredictionPlot()));
//Keypoint-based
@@ -5601,7 +5602,11 @@ void PreferencesDialog::updatePredictionPlot()
QVector<qreal> dataX((values.size()-2)*2 + 1);
QVector<qreal> dataY((values.size()-2)*2 + 1);
double value;
double sum = 0;
// Summed as PredictionModel does it, into a float: that is the sum the filter decides on,
// and under 1 of it is what has normalize() spread the difference over every other
// location. A double would land a few 1e-8 from a float on a list like the default one,
// and say 1 where the filter says otherwise.
float sum = 0.0f;
int lvl = 1;
bool ok = false;
bool error = false;
@@ -5639,7 +5644,7 @@ void PreferencesDialog::updatePredictionPlot()
{
_ui->label_prediction_sum->setText(QString("<font color=#FF0000>") + _ui->label_prediction_sum->text() + "</font>");
}
else if(sum == 1.0)
else if(sum == 1.0f)
{
_ui->label_prediction_sum->setText(QString("<font color=#00FF00>") + _ui->label_prediction_sum->text() + "</font>");
}