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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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what are these lines mean in graph view ? #1243

Closed qetuo105487900 closed 6 months ago

qetuo105487900 commented 6 months ago

Screenshot from 2024-03-15 16-41-32 i know blue line is my slam path but how about the yellow and the red lines mean?

matlabbe commented 6 months ago

Yellow is proximity detection (or local loop closure detection), red is global loop closure detection. If you right-click on the view, there is a menu option showing the different link colors (that can be changed). To know more about those links, see section 3.4 of this paper: RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation.

qetuo105487900 commented 6 months ago

@matlabbe , thanks!!!!