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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:14:35 -04:00
parent 651bc7ab86
commit 16e8cb062b
1 changed files with 2 additions and 1 deletions
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Robust-Graph-Optimization.md
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@@ -30,7 +30,8 @@ The video above can be reproduced with this database: [robust_graph_optimization
2. Open Preferences dialog. 2. Open Preferences dialog.
3. Restore default settings (Preferences->General Settings->"Reset all settings"). 3. Restore default settings (Preferences->General Settings->"Reset all settings").
4. Click on Source panel: set source from database, scroll down and select the database above and click on "Yes" to use odometry saved in database. 4. Click on Source panel: set source from database, scroll down and select the database above and click on "Yes" to use odometry saved in database.
5. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM). 5. Click on RTAB-Map settings: set "Detection rate" to 0. The source database is already at 1 Hz, it is just to make sure that all images are processed.
5. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM).
6. Close the Preferences dialog. 6. Close the Preferences dialog.
7. Create a new database (File -> New database) and click "Start". 7. Create a new database (File -> New database) and click "Start".