Re: asking for details regarding RTAB map working

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/asking-for-details-regarding-RTAB-map-working-tp1492p1496.html

Color code

Note that you can mouse over the top label of the loop closure detection view and the Odometry view to see a Tooltip showing values below.

Odometry View

Background:
   Dark Red = Odometry Lost
   Dark Yellow = Low Inliers

Features:
   Green = Inliers
   Red = Outliers
   Yellow = Not matched features from previous frame(s)

Loop Closure Detection View

Background Top:
   Blue = Weight Update Merged
   Dark Blue = Weight Update
   Dark Yellow = Proximity Detection in Time
   Dark Cyan = Neighbor Link Refined
   Gray = Small Movement

Features Top:
   Green = New
   Yellow = New but Not Unique
   Red = In Vocabulary
   Blue = In Vocabulary and in Previous Signature
   Pink = In Vocabulary and in Loop Closure Signature

Background Bottom:
   Green = Accepted Loop Closure Detection
   Red = Rejected Loop Closure Detection
   Yellow = Proximity Detection in Space

Features Bottom:
   Red = In Vocabulary
   Pink = In Vocabulary and in Loop Closure Signature

To know why the screen turns red, see "Lost Odometry" section of this tutorial.

cheers