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Retrieval margin spreading +2

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Rollback change about last location in WM not used in posterior (now it is)
In consoleApp, surf extraction is done outside the rtabmap processing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@295 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-07-19 21:52:33 +00:00
parent 73a2d589ab
commit bcbd35d368
4 changed files with 38 additions and 43 deletions
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corelib/src/Memory.cpp
+14 -18
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@@ -660,25 +660,21 @@ std::map<int, float> Memory::computeLikelihood(const Signature * signature, cons
std::map<int, int>::const_iterator iter = wm.begin();
for(; iter!=wm.end(); ++iter)
{
//ignore the last in WM
if(iter->first != wm.rbegin()->first)
float sim = signature->compareTo(this->getSignature(iter->first));
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, sim));
sumSimilarity += sim;
UDEBUG("sim %d with %d = %f", signature->id(), iter->first, sim);
if(sim>maxSim)
{
float sim = signature->compareTo(this->getSignature(iter->first));
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, sim));
sumSimilarity += sim;
UDEBUG("sim %d with %d = %f", signature->id(), iter->first, sim);
if(sim>maxSim)
{
maxSim = sim;
}
if(sim)
{
++nonNulls;
}
else
{
++nulls;
}
maxSim = sim;
}
if(sim)
{
++nonNulls;
}
else
{
++nulls;
}
}
ULOGGER_DEBUG("sumSimilarity=%f, maxSim=%f, nonNulls=%d, nulls=%d)", sumSimilarity, maxSim, nonNulls, nulls);