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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Draw "1 - Loop Thr" along with posterior #1373

Closed borongyuan closed 2 weeks ago

borongyuan commented 2 weeks ago

Previously, the loop threshold was drawn in the posterior plot. But I don't understand how to compare it with the posterior curve. What we can compare directly is the virtual place hypothesis and "1 - loop threshold". These changes only affect the plot.

matlabbe commented 2 weeks ago

Agreed, that is easier to interpret. If first hypothesis (new place) is below the threshold, then a loop closure is triggered. I think I just never re-adjusted that line from the original code (back in 2010-2011 when the code was hosted on google code there was no virtual place hypothesis). image

Thanks for the update!