refactoring

corelib/include/rtabmap/core/BayesFilter.h

@@ -95,12 +95,14 @@ public:
 	 * The prediction matrix is generated or updated from @ref Memory using the ids present
 	 * in @p likelihood.
 	 *
+	 * Read the result with @ref getPosteriorIds() and @ref getPosteriorValues().
+	 *
 	 * @param memory Working memory instance (must not be null).
 	 * @param likelihood Observation likelihood per signature id (must not be empty).
-	 * @return Reference to the internal posterior map (id → probability). On error (null
+	 * @return False on error (null memory, empty likelihood, or invalid prediction model),
-	 *         memory, empty likelihood, or invalid prediction model), returns the unchanged posterior.
+	 *         the posterior being left unchanged.
 	 */
-	const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+	bool computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
 
 	/**
 	 * @brief Clears posterior, prediction matrix and cached neighbor indices.
@@ -123,10 +125,16 @@ public:
 	void setPredictionLC(const std::string & prediction);
 
 	/**
-	 * @brief Returns the current posterior probability map.
+	 * @brief The locations the posterior is over, ascending by id.
-	 * @return Map of signature id to normalized posterior probability. This is the probability to be at the given location.
+	 *
+	 * The virtual place (@ref Memory::kIdVirtual) is the first of them when it is one.
 	 */
-	const std::map<int, float> & getPosterior() const {return _posterior;}
+	const std::vector<int> & getPosteriorIds() const {return _posteriorIds;}
+
+	/**
+	 * @brief The probability of each location of @ref getPosteriorIds(), in the same order.
+	 */
+	const std::vector<float> & getPosteriorValues() const {return _posteriorValues;}
 
 	/**
 	 * @brief Returns the virtual place prior threshold.
@@ -286,9 +294,8 @@ private:
 	void multiplySparsePrediction(const std::vector<float> & posterior, std::vector<float> & prior) const;
 
 private:
-	std::map<int, float> _posterior;              ///< Current posterior (signature id → probability).
+	std::vector<int> _posteriorIds;               ///< The locations the posterior is over, ascending by id.
-	std::vector<int> _posteriorIds;               ///< The ids of _posterior, in its order.
+	std::vector<float> _posteriorValues;          ///< The probability of each of them, in the same order.
-	std::vector<float> _posteriorValues;          ///< The probabilities of _posterior, in its order: what an iteration works on.
 	std::vector<int> _likelihoodIds;              ///< The ids of the likelihood of an iteration, in its order.
 	std::vector<float> _likelihoodValues;         ///< The likelihood of an iteration, in the same order.
 	std::vector<float> _priorValues;              ///< The prior of an iteration, in the same order.

corelib/src/BayesFilter.cpp

@@ -166,7 +166,6 @@ bool BayesFilter::posteriorHasSameIds(const std::vector<int> & ids) const
 
 void BayesFilter::reset()
 {
-	_posterior.clear();
 	_posteriorIds.clear();
 	_posteriorValues.clear();
 	_prediction = cv::Mat();
@@ -176,26 +175,26 @@ void BayesFilter::reset()
 	_neighborsIndex.clear();
 }
 
-const std::map<int, float> & BayesFilter::computePosterior(const Memory * memory, const std::map<int, float> & likelihood)
+bool BayesFilter::computePosterior(const Memory * memory, const std::map<int, float> & likelihood)
 {
 	ULOGGER_DEBUG("");
 
 	if(!memory)
 	{
 		ULOGGER_ERROR("Memory is Null!");
-		return _posterior;
+		return false;
 	}
 
 	if(!likelihood.size())
 	{
 		ULOGGER_ERROR("likelihood is empty!");
-		return _posterior;
+		return false;
 	}
 
 	if(_predictionLC.size() < 2)
 	{
 		ULOGGER_ERROR("Prediction is not valid!");
-		return _posterior;
+		return false;
 	}
 
 	UTimer timer;
@@ -282,7 +281,7 @@ const std::map<int, float> & BayesFilter::computePosterior(const Memory * memory
 		this->updatePosterior(memory, likelihood);
 	}
 	UASSERT(_posteriorValues.size() == likelihood.size());
-	ULOGGER_DEBUG("STEP1-update posterior=%fs, _posterior size=%d", timer.ticks(), (int)_posterior.size());
+	ULOGGER_DEBUG("STEP1-update posterior=%fs, posterior size=%d", timer.ticks(), (int)_posteriorValues.size());
 
 	// Multiply prediction matrix with the last posterior
 	// (m,m) X (m,1) = (m,1)
@@ -327,19 +326,8 @@ const std::map<int, float> & BayesFilter::computePosterior(const Memory * memory
 		}
 	}
 
-	// The posterior the caller reads is the map, which is filled from the values in one
-	// walk of it: its ids are the ones of the likelihood, in the same order.
-	{
-		size_t k = 0;
-		for(std::map<int, float>::iterator iter=_posterior.begin(); iter!=_posterior.end(); ++iter)
-		{
-			iter->second = _posteriorValues[k++];
-		}
-	}
 	ULOGGER_DEBUG("normalize time=%fs", timer.ticks());
-	//std::cout << "Posterior=" << _posterior << std::endl;
+	return true;
-
-	return _posterior;
 }
 
 // A column of the prediction matrix, given as a pointer to its first value and the
@@ -428,11 +416,10 @@ cv::Mat BayesFilter::generatePrediction(const Memory * memory, const std::vector
 	{
 		return _prediction;
 	}
-	std::vector<int> oldIds = uKeys(_posterior);
-
 	if(!_fullPredictionUpdate && !_prediction.empty())
 	{
-		return updatePrediction(_prediction, memory, oldIds, ids);
+		// The ids the matrix was built for, which the posterior is still indexed by.
+		return updatePrediction(_prediction, memory, _posteriorIds, ids);
 	}
 	UDEBUG("");
 
@@ -889,7 +876,6 @@ void BayesFilter::multiplySparsePrediction(const std::vector<float> & posterior,
 unsigned long BayesFilter::getMemoryUsed() const
 {
 	long memoryUsage = sizeof(BayesFilter);
-	memoryUsage += _posterior.size() * (sizeof(float)+sizeof(int)+sizeof(std::map<int, float>::iterator)) + sizeof(std::map<int, float>);
 	if(!_prediction.empty())
 	{
 		memoryUsage += _prediction.total() * _prediction.elemSize();
@@ -1231,25 +1217,34 @@ cv::Mat BayesFilter::updatePrediction(const cv::Mat & oldPrediction,
 // Realigns the posterior with the ids of the likelihood, keeping the probability of the
 // locations that are in both. Called only when they differ, which over a fixed graph never
 // happens after the first iteration.
+//
+// Both are sorted by id, so the ones in both are found by walking them side by side rather
+// than searching for each.
 void BayesFilter::updatePosterior(const Memory * memory, const std::map<int, float> & likelihood)
 {
 	ULOGGER_DEBUG("");
-	const bool wasEmpty = _posterior.empty();
+	const bool wasEmpty = _posteriorIds.empty();
-	std::map<int, float> newPosterior;
+	std::vector<int> ids;
-	_posteriorIds.clear();
+	std::vector<float> values;
-	_posteriorIds.reserve(likelihood.size());
+	ids.reserve(likelihood.size());
-	_posteriorValues.resize(likelihood.size());
+	values.reserve(likelihood.size());
 	size_t k = 0;
 	for(std::map<int, float>::const_iterator iter=likelihood.begin(); iter!=likelihood.end(); ++iter)
 	{
-		const std::map<int, float>::const_iterator post = _posterior.find(iter->first);
+		while(k < _posteriorIds.size() && _posteriorIds[k] < iter->first)
-		const float value = post != _posterior.end() ? post->second : (wasEmpty ? 1.0f : 0.0f);
+		{
-		// The ids come from a map, so they arrive sorted and each one belongs at the end.
+			++k;
-		newPosterior.insert(newPosterior.end(), std::make_pair(iter->first, value));
-		_posteriorIds.push_back(iter->first);
-		_posteriorValues[k++] = value;
 		}
-	_posterior = newPosterior;
+		float value = wasEmpty ? 1.0f : 0.0f;
+		if(k < _posteriorIds.size() && _posteriorIds[k] == iter->first)
+		{
+			value = _posteriorValues[k];
+		}
+		ids.push_back(iter->first);
+		values.push_back(value);
+	}
+	_posteriorIds.swap(ids);
+	_posteriorValues.swap(values);
 }
 
 } // namespace rtabmap

corelib/src/Rtabmap.cpp

@@ -1258,8 +1258,6 @@ bool Rtabmap::process(
 	std::map<int, float> adjustedLikelihood;
 	std::map<int, float> likelihood;
 	std::map<int, int> weights;
-	const std::map<int, float> emptyPosterior;
-	const std::map<int, float> * posterior = &emptyPosterior;
 	std::list<std::pair<int, float> > reactivateHypotheses;
 
 	std::map<int, int> childCount;
@@ -2139,7 +2137,7 @@ bool Rtabmap::process(
 			ULOGGER_INFO("getting posterior...");
 
 			// Compute the posterior
-			posterior = &_bayesFilter->computePosterior(_memory, likelihood);
+			_bayesFilter->computePosterior(_memory, likelihood);
 			timePosteriorCalculation = timer.ticks();
 			ULOGGER_INFO("timePosteriorCalculation=%fs",timePosteriorCalculation);
 
@@ -2153,17 +2151,21 @@ bool Rtabmap::process(
 			// Select the highest hypothesis
 			//============================================================
 			ULOGGER_INFO("creating hypotheses...");
-			if(posterior->size())
+			const std::vector<int> & posteriorIds = _bayesFilter->getPosteriorIds();
+			const std::vector<float> & posteriorValues = _bayesFilter->getPosteriorValues();
+			if(posteriorIds.size())
 			{
-				for(std::map<int, float>::const_reverse_iterator iter = posterior->rbegin(); iter != posterior->rend(); ++iter)
+				// Highest id first, to keep the same one on equal probabilities as when this
+				// walked a map backwards.
+				for(size_t i=posteriorIds.size(); i-- > 0;)
 				{
-					if(iter->first > 0 && iter->second > _highestHypothesis.second)
+					if(posteriorIds[i] > 0 && posteriorValues[i] > _highestHypothesis.second)
 					{
-						_highestHypothesis = *iter;
+						_highestHypothesis = std::make_pair(posteriorIds[i], posteriorValues[i]);
 					}
 				}
 				// With the virtual place, use sum of LC probabilities (1 - virtual place hypothesis).
-				_highestHypothesis.second = 1-posterior->begin()->second;
+				_highestHypothesis.second = 1-posteriorValues[0];
 			}
 			timeHypothesesCreation = timer.ticks();
 			ULOGGER_INFO("Highest hypothesis=%d, value=%f, timeHypothesesCreation=%fs", _highestHypothesis.first, _highestHypothesis.second, timeHypothesesCreation);
@@ -2194,7 +2196,7 @@ bool Rtabmap::process(
 				if(_highestHypothesis.second >= loopThr)
 				{
 					rejectedLoopClosure = true;
-					if(posterior->size() <= 2 && loopThr>0.0f)
+					if(_bayesFilter->getPosteriorIds().size() <= 2 && loopThr>0.0f)
 					{
 						// Ignore loop closure if there is only one loop closure hypothesis
 						UDEBUG("rejected hypothesis: single hypothesis");
@@ -4195,7 +4197,9 @@ bool Rtabmap::process(
 	}
 
 	// Posterior is empty if a bad signature is detected
-	float vpHypothesis = posterior->size()?posterior->at(Memory::kIdVirtual):0.0f;
+	// The virtual place is the first location of the posterior when it is one of them.
+	const std::vector<int> & vpIds = _bayesFilter->getPosteriorIds();
+	float vpHypothesis = (vpIds.size() && vpIds[0]==Memory::kIdVirtual)?_bayesFilter->getPosteriorValues()[0]:0.0f;
 	int loopId = _loopClosureHypothesis.first>0?_loopClosureHypothesis.first:lastProximitySpaceClosureId;
 
 	// prepare statistics
@@ -4412,7 +4416,14 @@ bool Rtabmap::process(
 				statistics_.setWeights(weights);
 				if(_publishPdf)
 				{
-					statistics_.setPosterior(*posterior);
+					const std::vector<int> & ids = _bayesFilter->getPosteriorIds();
+					const std::vector<float> & values = _bayesFilter->getPosteriorValues();
+					std::map<int, float> posterior;
+					for(size_t i=0; i<ids.size(); ++i)
+					{
+						posterior.insert(posterior.end(), std::make_pair(ids[i], values[i]));
+					}
+					statistics_.setPosterior(posterior);
 				}
 				if(_publishLikelihood)
 				{

corelib/test/perf_bayesfilter.cpp

@@ -342,6 +342,20 @@ void printGraph(const std::string & path, const RealGraph & graph, int removedLi
 	std::cout << " (" << graph.skippedLinks << " on a single location or on a landmark not rebuilt, "
 			  << removedLinks << " gaps in the chain)" << std::endl;
 }
+// The posterior as a map, which the filter no longer builds: it holds the locations and
+// their probabilities as two vectors, and a test reads them more easily as a map.
+static std::map<int, float> posteriorOf(const BayesFilter & filter)
+{
+	const std::vector<int> & ids = filter.getPosteriorIds();
+	const std::vector<float> & values = filter.getPosteriorValues();
+	std::map<int, float> posterior;
+	for(size_t i = 0; i < ids.size(); ++i)
+	{
+		posterior.insert(posterior.end(), std::make_pair(ids[i], values[i]));
+	}
+	return posterior;
+}
+
 struct Result
 {
 	double firstIteration = 0.0;   // includes generating the prediction, sparse or dense
@@ -396,7 +410,7 @@ Result run(const Memory * memory,
 	}
 	result.steadyState = best > 0.0 ? best : result.firstIteration;
 	result.memoryUsed = filter.getMemoryUsed();
-	result.posterior = filter.getPosterior();
+	result.posterior = posteriorOf(filter);
 	return result;
 }
 
@@ -709,7 +723,7 @@ TEST(BayesFilterPerfTest, DenseVsSparsePredictionWhileMappingARealSession)
 			if(best == 0.0 || elapsed < best) best = elapsed;
 			if(elapsed > worst) worst = elapsed;
 		}
-		lastPosterior[sparse] = filter.getPosterior();
+		lastPosterior[sparse] = posteriorOf(filter);
 
 		printf("[          ]   %-6s first iteration %8.1f ms, then per added location: "
 			   "fastest %8.1f ms, mean %8.1f ms, slowest %8.1f ms, filter memory %7.1f MB\n",

corelib/test/test_bayesfilter.cpp

@@ -28,6 +28,20 @@ static const char kPredictionNewPlace10Stay70Neighbor20[] = "0.1 0.7 0.2";     /
 static const char kPredictionNewPlace10Stay50Neighbor25_15[] = "0.1 0.5 0.25 0.15"; // sum = 1
 static const char kPredictionSumBelowOne[] = "0.1 0.5";                         // sum = 0.6 (non-default, tests normalization)
 
+// The posterior as a map, which the filter no longer builds: it holds the locations and
+// their probabilities as two vectors, and a test reads them more easily as a map.
+static std::map<int, float> posteriorOf(const BayesFilter & filter)
+{
+	const std::vector<int> & ids = filter.getPosteriorIds();
+	const std::vector<float> & values = filter.getPosteriorValues();
+	std::map<int, float> posterior;
+	for(size_t i = 0; i < ids.size(); ++i)
+	{
+		posterior.insert(posterior.end(), std::make_pair(ids[i], values[i]));
+	}
+	return posterior;
+}
+
 static bool approxEqual(float a, float b, float epsilon = 1e-5f)
 {
 	return std::fabs(a - b) < epsilon;
@@ -262,7 +276,7 @@ protected:
 		likelihood = uniformLikelihood(ids);
 		filter.computePosterior(memory_, likelihood);
 
-		return std::make_pair(filter.getPosterior(), filter.generatePrediction(memory_, ids));
+		return std::make_pair(posteriorOf(filter), filter.generatePrediction(memory_, ids));
 	}
 
 	Memory * memory_ = nullptr;
@@ -276,7 +290,7 @@ TEST(BayesFilterTest, DefaultConstructor)
 {
 	BayesFilter filter;
 
-	EXPECT_TRUE(filter.getPosterior().empty());
+	EXPECT_TRUE(posteriorOf(filter).empty());
 	EXPECT_FLOAT_EQ(filter.getVirtualPlacePrior(), Parameters::defaultBayesVirtualPlacePriorThr());
 	EXPECT_GE(filter.getPredictionLC().size(), 2u);
 	EXPECT_FALSE(filter.getPredictionLCStr().empty());
@@ -372,10 +386,10 @@ TEST(BayesFilterTest, Reset)
 	std::map<int, float> likelihood;
 	likelihood[Memory::kIdVirtual] = 1.0f;
 	filter.computePosterior(&memory, likelihood);
-	ASSERT_FALSE(filter.getPosterior().empty());
+	ASSERT_FALSE(posteriorOf(filter).empty());
 
 	filter.reset();
-	EXPECT_TRUE(filter.getPosterior().empty());
+	EXPECT_TRUE(posteriorOf(filter).empty());
 }
 
 // getMemoryUsed Tests
@@ -400,8 +414,8 @@ TEST(BayesFilterTest, ComputePosteriorNullMemory)
 	std::map<int, float> likelihood;
 	likelihood[1] = 1.0f;
 
-	const std::map<int, float> & result = filter.computePosterior(nullptr, likelihood);
+	EXPECT_FALSE(filter.computePosterior(nullptr, likelihood));
-	EXPECT_TRUE(result.empty());
+	EXPECT_TRUE(posteriorOf(filter).empty());
 }
 
 TEST(BayesFilterTest, ComputePosteriorEmptyLikelihood)
@@ -410,8 +424,8 @@ TEST(BayesFilterTest, ComputePosteriorEmptyLikelihood)
 	BayesFilter filter;
 	std::map<int, float> likelihood;
 
-	const std::map<int, float> & result = filter.computePosterior(&memory, likelihood);
+	EXPECT_FALSE(filter.computePosterior(&memory, likelihood));
-	EXPECT_TRUE(result.empty());
+	EXPECT_TRUE(posteriorOf(filter).empty());
 }
 
 // generatePrediction Tests (virtual place only, no graph)
@@ -466,7 +480,7 @@ TEST(BayesFilterTest, ComputePosteriorVirtualPlaceOnly)
 
 	filter.computePosterior(&memory, likelihood);
 
-	const std::map<int, float> & posterior = filter.getPosterior();
+	const std::map<int, float> & posterior = posteriorOf(filter);
 	ASSERT_EQ(posterior.size(), 1u);
 	EXPECT_EQ(posterior.begin()->first, Memory::kIdVirtual);
 	EXPECT_TRUE(approxEqual(posterior.begin()->second, 1.0f));
@@ -484,7 +498,7 @@ TEST(BayesFilterTest, ComputePosteriorNormalizesPosterior)
 
 	filter.computePosterior(&memory, likelihood);
 
-	const std::map<int, float> & posterior = filter.getPosterior();
+	const std::map<int, float> & posterior = posteriorOf(filter);
 	ASSERT_EQ(posterior.size(), 1u);
 	EXPECT_TRUE(approxEqual(posterior.begin()->second, 1.0f));
 }
@@ -503,7 +517,7 @@ TEST(BayesFilterTest, ComputePosteriorUpdatesWithNewLikelihood)
 	likelihood[Memory::kIdVirtual] = 0.5f;
 	filter.computePosterior(&memory, likelihood);
 
-	const std::map<int, float> & posterior = filter.getPosterior();
+	const std::map<int, float> & posterior = posteriorOf(filter);
 	ASSERT_EQ(posterior.size(), 1u);
 	EXPECT_TRUE(approxEqual(posterior.begin()->second, 1.0f));
 }
@@ -666,7 +680,7 @@ TEST_F(BayesFilterMemoryFixture, ComputePosteriorNormalizedWithGraph)
 	std::map<int, float> likelihood = uniformLikelihood(ids);
 	filter.computePosterior(memory_, likelihood);
 
-	const std::map<int, float> & posterior = filter.getPosterior();
+	const std::map<int, float> & posterior = posteriorOf(filter);
 	ASSERT_EQ(posterior.size(), ids.size());
 
 	// Linear chain ids: [virtual, 1..15]. Uniform likelihood, init posterior on virtual place.
@@ -738,7 +752,7 @@ TEST_F(BayesFilterMemoryFixture, ComputePosteriorFavorsHighLikelihood)
 	{
 		filter.computePosterior(memory_, likelihood);
 
-		const std::map<int, float> & posterior = filter.getPosterior();
+		const std::map<int, float> & posterior = posteriorOf(filter);
 		ASSERT_EQ(posterior.size(), ids.size());
 
 		for(size_t i = 0; i < ids.size(); ++i)
@@ -803,7 +817,7 @@ TEST_F(BayesFilterMemoryFixture, ComputePosteriorSequentialIterations)
 
 		filter.computePosterior(memory_, likelihood);
 
-		const std::map<int, float> & posterior = filter.getPosterior();
+		const std::map<int, float> & posterior = posteriorOf(filter);
 		ASSERT_EQ(posterior.size(), ids.size());
 
 		ASSERT_GE(iter, 5);
@@ -860,7 +874,7 @@ TEST_F(BayesFilterMemoryFixture, ComputePosteriorSequentialIterationsWithLoopClo
 
 		filter.computePosterior(memory_, likelihood);
 
-		const std::map<int, float> & posterior = filter.getPosterior();
+		const std::map<int, float> & posterior = posteriorOf(filter);
 		ASSERT_EQ(posterior.size(), ids.size());
 
 		ASSERT_GE(iter, 5);
@@ -918,8 +932,8 @@ TEST_F(BayesFilterMemoryFixture, CompareFullPredictionUpdateModes)
 	filterIncremental.computePosterior(memory_, likelihood);
 	filterFull.computePosterior(memory_, likelihood);
 
-	const std::map<int, float> & posteriorIncremental = filterIncremental.getPosterior();
+	const std::map<int, float> & posteriorIncremental = posteriorOf(filterIncremental);
-	const std::map<int, float> & posteriorFull = filterFull.getPosterior();
+	const std::map<int, float> & posteriorFull = posteriorOf(filterFull);
 	ASSERT_EQ(posteriorIncremental.size(), posteriorFull.size());
 	for(size_t i = 0; i < ids.size(); ++i)
 	{
@@ -1038,8 +1052,8 @@ TEST_F(BayesFilterMemoryFixture, CompareSparsePredictionModes)
 		filterDense.computePosterior(memory_, likelihood);
 		filterSparse.computePosterior(memory_, likelihood);
 
-		const std::map<int, float> & posteriorDense = filterDense.getPosterior();
+		const std::map<int, float> & posteriorDense = posteriorOf(filterDense);
-		const std::map<int, float> & posteriorSparse = filterSparse.getPosterior();
+		const std::map<int, float> & posteriorSparse = posteriorOf(filterSparse);
 		ASSERT_EQ(posteriorDense.size(), posteriorSparse.size());
 		for(size_t i = 0; i < ids.size(); ++i)
 		{
@@ -1071,11 +1085,11 @@ TEST_F(BayesFilterMemoryFixture, SparsePredictionFallsBackWhenModelSumsBelowOne)
 	filterDense.computePosterior(memory_, likelihood);
 	filterSparse.computePosterior(memory_, likelihood);
 
-	ASSERT_EQ(filterDense.getPosterior().size(), filterSparse.getPosterior().size());
+	ASSERT_EQ(posteriorOf(filterDense).size(), posteriorOf(filterSparse).size());
 	for(size_t i = 0; i < ids.size(); ++i)
 	{
-		EXPECT_NEAR(filterDense.getPosterior().at(ids[i]),
+		EXPECT_NEAR(posteriorOf(filterDense).at(ids[i]),
-		            filterSparse.getPosterior().at(ids[i]), 1e-5f) << "id=" << ids[i];
+		            posteriorOf(filterSparse).at(ids[i]), 1e-5f) << "id=" << ids[i];
 	}
 
 	// Falling back means the sparse view was left empty, so no extra memory is used.
@@ -1148,7 +1162,7 @@ TEST_F(BayesFilterMemoryFixture, SparsePredictionIsExactOnASingleColumn)
 		}
 		filterDense.computePosterior(memory_, oneHot);
 		filterSparse.computePosterior(memory_, oneHot);
-		ASSERT_FLOAT_EQ(filterDense.getPosterior().at(ids[selected]), 1.0f) << "column=" << selected;
+		ASSERT_FLOAT_EQ(posteriorOf(filterDense).at(ids[selected]), 1.0f) << "column=" << selected;
 
 		const std::map<int, float> uniform = uniformLikelihood(ids);
 		filterDense.computePosterior(memory_, uniform);
@@ -1156,8 +1170,8 @@ TEST_F(BayesFilterMemoryFixture, SparsePredictionIsExactOnASingleColumn)
 
 		for(size_t i = 0; i < ids.size(); ++i)
 		{
-			EXPECT_FLOAT_EQ(filterDense.getPosterior().at(ids[i]),
+			EXPECT_FLOAT_EQ(posteriorOf(filterDense).at(ids[i]),
-			                filterSparse.getPosterior().at(ids[i]))
+			                posteriorOf(filterSparse).at(ids[i]))
 				<< "column=" << selected << " id=" << ids[i];
 		}
 	}
@@ -1194,11 +1208,11 @@ TEST_F(BayesFilterMemoryFixture, CompareSparsePredictionModesInLocalizationMode)
 		filterDense.computePosterior(memory_, likelihood);
 		filterSparse.computePosterior(memory_, likelihood);
 
-		ASSERT_EQ(filterDense.getPosterior().size(), filterSparse.getPosterior().size());
+		ASSERT_EQ(posteriorOf(filterDense).size(), posteriorOf(filterSparse).size());
 		for(size_t i = 0; i < ids.size(); ++i)
 		{
-			EXPECT_NEAR(filterDense.getPosterior().at(ids[i]),
+			EXPECT_NEAR(posteriorOf(filterDense).at(ids[i]),
-			            filterSparse.getPosterior().at(ids[i]), 1e-5f)
+			            posteriorOf(filterSparse).at(ids[i]), 1e-5f)
 				<< "iter=" << iter << " id=" << ids[i];
 		}
 	}
@@ -1243,8 +1257,8 @@ TEST_F(BayesFilterMemoryFixture, SparsePredictionInLocalizationModeIsExactOnASin
 
 		for(size_t i = 0; i < ids.size(); ++i)
 		{
-			EXPECT_FLOAT_EQ(filterDense.getPosterior().at(ids[i]),
+			EXPECT_FLOAT_EQ(posteriorOf(filterDense).at(ids[i]),
-			                filterSparse.getPosterior().at(ids[i]))
+			                posteriorOf(filterSparse).at(ids[i]))
 				<< "column=" << selected << " id=" << ids[i];
 		}
 	}