Re: Why I can't relacate in localization mode
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Why-I-can-t-relacate-in-localization-mode-tp535p538.html
Hello derwee,
it seems that the loop closure hypothesis is not high enough to trigger a loop closure. To see the loop closure hypotheses, you can show the "Likelihood" and "A Posteriori PDF" in Window menu -> Show view...
Example:
In "A posteriori PDF", the corresponding hypothesis of the old image should be near the threshold to trigger a loop closure (green background when accepted). You can set the plots in graphics view mode (see right-click menu) to show images related to each dot in the graph.
cheers
URL: http://official-rtab-map-forum.206.s1.nabble.com/Why-I-can-t-relacate-in-localization-mode-tp535p538.html
Hello derwee,
it seems that the loop closure hypothesis is not high enough to trigger a loop closure. To see the loop closure hypotheses, you can show the "Likelihood" and "A Posteriori PDF" in Window menu -> Show view...
Example:
In "A posteriori PDF", the corresponding hypothesis of the old image should be near the threshold to trigger a loop closure (green background when accepted). You can set the plots in graphics view mode (see right-click menu) to show images related to each dot in the graph.
cheers
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