Re: Database viewer options

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Database-viewer-options-tp980p983.html

Hi,

The error is computed between the actual transformation of the link and the resulting transformation after graph optimization. For example, if there are no loop closures, the error should be null (the link transformation is identical after graph optimization).

In some cases when there is a lot of geometry in the environment, refining the constraints using ICP may give more precise results. The option "ICP: Refine all neighbor links" does ICP (Iterative-Closest-Point) using the laser scans or the point cloud created from the depth image. Parameters for ICP are under ICP panel in the (GUI) Parameters view.

cheers,
Mathieu