From 339f9e18ba77a3c993d24c29c49a7f60b041fdd2 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:42:54 -0400 Subject: [PATCH] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 8d9bfce..1a84792 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -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".