Is there an available description for the visual interface?

[Ab-Tx]

Hello.
I believe there is a detailed description of the visual interface (rtabmap_viz) somewhere (not the ROS 1 page detailing sub'd and pub'd topics), but I've been searching through the ROS wiki and the GitHub repositories (rtabmap and rtabmap_ros), but I didn't find anything.

I wanted to confirm a few things.
Are the points and lines shown in the 3D viewer actually nodes and edges from the current pose graph and past pose graphs (colored differently) ?
The visual features from the 'odometry' window, are colored as:

• Green: Feature matches known features?
• Yellow: Feature does not match known features?
• Red: Feature rejected?

I've noticed the explanation for the image's background color at https://github.com/introlab/rtabmap/wiki/Kinect-mapping

[matlabbe]

Hi,

There is no detailed documentation about the UI. We however put some descriptions "hidden" in the UI, by getting tooltips of some widgets. For example, if you mouse over the widget of "Loop closure detection" or Odometry views, you will see this:

For the Graph view, the meaning of the link's color can be seen in the right-click menu:

For the 3D Map view, the graph color describes the mapping session ID (starting with color cyan). For the VO odometry points, they follow same color code than the Odometry view.

That would answer your current questions I think.

cheers,
Mathieu

[Ab-Tx]

Yes, that answers all the questions I had. Thank you.