can you give some explanation in Rtabmap.cpp

Posted by m.omar82 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/can-you-give-some-explanation-in-Rtabmap-cpp-tp114.html

Dear Sir
can you give more explanation in Rtabmap.cpp in Bayes filter update when you select the highest hypothesis, you search for the highest hypothesis by you move in reverse order on posterior array
and save the highest in lc-id in hypothesis.first and the highest properties in hypothesis.second.

but after the for loop

// With the virtual place, use sum of LC probabilities (1 - virtual place hypothesis).
hypothesis.second = 1-posterior.begin()->second;

why you select the 1st properties