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Rtabmap: init Bayes prediction when loading a database

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matlabbe
2020-09-11 10:55:33 -04:00
parent d50b33a7b8
commit a24211583d
1 changed files with 11 additions and 0 deletions
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11
corelib/src/Rtabmap.cpp
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@@ -351,6 +351,17 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
std::map<int, Transform> tmp;
// Get just the links
_memory->getMetricConstraints(uKeysSet(_optimizedPoses), tmp, _constraints, false, true);
// Initialize Bayes' prediction matrix
UTimer time;
std::map<int, float> likelihood;
likelihood.insert(std::make_pair(Memory::kIdVirtual, 1));
for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end(); ++iter)
{
likelihood.insert(std::make_pair(iter->first, 0));
}
_bayesFilter->computePosterior(_memory, likelihood);
UINFO("Time initializing Bayes' prediction with %ld nodes: %fs", _optimizedPoses.size(), time.ticks());
}
else
{