Sparse Bayes - #1748

Merged

matlabbe merged 28 commits into

Aug 23, 2026

Commits on Aug 19, 2026

Sparse Bayes
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2f4ac94
updated perf test
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0577d3a
improved tests with real data
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99aa793
Making sparse works in incremental mapping
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6a45a26
bookkeeping optimization
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77a4b6f
small opt
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ed5bd74
refactoring
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eca1e53

Commits on Aug 20, 2026

splitting dense and sparse in different classes to make the code more lisible
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446024d
cleanup comments
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9c6674f
fixing CI
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261bf9d
Making all Bayes tests testing both dense and sparse
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fa02cc1
Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings)
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e7d73db
optimized sparse when transfer/retrieval happens (was slower than dense for that case)
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238e737
Testing retrieval param variants
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6263b7e

Commits on Aug 21, 2026

Updated multisession_3it integration tests to compare loop closure hypotheses
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0a38d5c
bump version
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14f5a42
Fixed ui sum of prediction
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722d904

Commits on Aug 22, 2026

adding g2o gtsam to linux ci
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2ae63ce
cleanup
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6a7fb71
added debug crash log for ci
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d948294
Simplified Bayes/SparsePrediction description
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d18ac85
Dont show too dense for sparse on small maps (e.g., when we just started a new map)
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d383f41
fixing amd64v3 issue with gtsam on ci ubuntu 26
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a00699e
Dot not auto switch to dense based on map size.
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0a97209

Commits on Aug 23, 2026

updating test range
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6d0b86f
added coverage tests
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f879d0b
Adressing coverage
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f5463e1
ignore one line in coverage for purpose
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af166d9