Generator inference only uses Naive Bayes, regardless of FabMap flags.

arrenglover / openfabmap

Open-source C++ code for the FAB-MAP visual place recognition algorithm

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Generator inference only uses Naive Bayes, regardless of FabMap flags. #1

Open kmactavish opened 9 years ago

kmactavish commented 9 years ago

This issue discusses the generator inference function FabMap::PeqGL.

This function behaves as expected when in Naive Bayes mode, but Lzpq should be used in the inference when in Chow Liu mode.

Internally, the function should use PzqGzpqeq instead of PzqGeq when in Chow Liu mode, where PzqGzpqeq would refactor some of what is currently happening in PzqGzpqL.