From 4af3de9182090b3687307685680610567418e0c4 Mon Sep 17 00:00:00 2001 From: Mitchell Allain Date: Tue, 13 Sep 2022 07:33:01 -0500 Subject: [PATCH] Fix parameter name in algo walkthrough (#1690) Fix reference to `POSE_GRAPH.log_residual_histograms` Signed-off-by: Mitchell Allain --- docs/source/algo_walkthrough.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/algo_walkthrough.rst b/docs/source/algo_walkthrough.rst index 508e0f6..6877082 100644 --- a/docs/source/algo_walkthrough.rst +++ b/docs/source/algo_walkthrough.rst @@ -338,7 +338,7 @@ The weights and Ceres options can be configured as described in the :ref:`local- .. note:: - One can find useful information about the residuals used in the optimization problem by toggling ``POSE_GRAPH.max_num_final_iterations`` + One can find useful information about the residuals used in the optimization problem by toggling ``POSE_GRAPH.log_residual_histograms`` As part of its IMU residual, the optimization problem gives some flexibility to the IMU pose and, by default, Ceres is free to optimize the extrinsic calibration between your IMU and tracking frame. If you don't trust your IMU pose, the results of Ceres' global optimization can be logged and used to improve your extrinsic calibration.