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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:42:54 -04:00
parent 1d5154b7a7
commit 339f9e18ba
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Robust-Graph-Optimization.md
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@@ -35,7 +35,7 @@ The video above can be reproduced with this database: [robust_graph_optimization
[[doc/Tutorials/RobustGraphOptimization/source.png]]
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.
6. 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. 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). **Note**: to actually see the black lines as in the video, you should set "Reject loop closures if optimization error is greater than this value (0=disabled)." to 0, then right-click on the Graph View -> "Set link color..." -> "Set outlier threshold..." and set value to 1 m.
7. Close the Preferences dialog.
8. Create a new database (File -> New database) and click "Start".