Trajectory is not reloaded
Hello everyone. I have an issue with reloading previously saved trajectory within LidarView. I want to try different loop closure parameters on reloaded trajectory and compare the effects of it.
I have saved trajectory both as .poses and as .csv through LidarView. My .csv file looks like this (I didn't insert all the fields as it is pretty big, just a couple so you can see how it looks):
Time | Orientation(Quaternion):0 | Orientation(Quaternion):1 | Orientation(Quaternion):2 | Orientation(Quaternion):3 | Orientation(AxisAngle):0 | Orientation(AxisAngle):1 | Orientation(AxisAngle):2 | Orientation(AxisAngle):3 | Covariance:0 | Covariance:1 | Covariance:2 | Covariance:3 | Covariance:4 | Covariance:5 | Covariance:6 | Covariance:7 | Covariance:8 | Covariance:9 | Covariance:10 | Covariance:11 | Covariance:12 | Covariance:13 | Covariance:14 | Covariance:15 | Covariance:16 | Covariance:17 | Covariance:18 | Covariance:19 | Covariance:20 | Covariance:21 | Covariance:22 | Covariance:23 | Covariance:24 | Covariance:25 | Covariance:26 | Covariance:27 | Covariance:28 | Covariance:29 | Covariance:30 | Covariance:31 | Covariance:32 | Covariance:33 | Covariance:34 | Covariance:35 | Points:0 | Points:1 | Points:2 | Rx(Roll) | Ry(Pitch) | Rz(Yaw) | X | Y | Z |
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1829.4 | 1 | 0 | 0 | 0 | 1 | 0 | 0 | 0 | 0.0001 | 0 | 0 | 0 | 0 | 0 | 0 | 0.0001 | 0 | 0 | 0 | 0 | 0 | 0 | 0.0001 | 0 | 0 | 0 | 0 | 0 | 0 | 0.00030462 | 0 | 0 | 0 | 0 | 0 | 0 | 0.00030462 | 0 | 0 | 0 | 0 | 0 | 0 | 0.00030462 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
1829.5 | 0.99999 | -8.278E-05 | 6.9065E-05 | 0.0045642 | -0.018132 | 0.015128 | 0.99972 | 0.009131 | 0.0030171 | -0.00059189 | 3.8372E-05 | -8.6501E-07 | 1.087E-06 | 1.0977E-05 | -0.00059189 | 0.0078823 | -9.3828E-05 | -1.5862E-06 | 4.9804E-07 | -3.9302E-05 | 3.8372E-05 | -9.3828E-05 | 0.0022517 | -3.5167E-05 | 3.3657E-05 | -3.7132E-07 | -8.6501E-07 | -1.5862E-06 | -3.5167E-05 | 9.8841E-06 | -4.4597E-06 | 8.6981E-08 | 1.087E-06 | 4.9804E-07 | 3.3657E-05 | -4.4597E-06 | 5.8366E-06 | -1.1089E-07 | 1.0977E-05 | -3.9302E-05 | -3.7132E-07 | 8.6981E-08 | -1.1089E-07 | 1.0123E-05 | -0.022269 | 0.090288 | 0.00029215 | -0.000164927303847 | 0.000138884755298 | 0.009128439420588 | -0.022268546745181 | 0.090287685394287 | 0.00029215234099 |
1829.7 | 0.99998 | 1.3763E-06 | 2.2632E-05 | 0.0057599 | 0.00023895 | 0.0039293 | 0.99999 | 0.01152 | 0.0024161 | 7.2353E-06 | 1.2669E-05 | -1.9409E-08 | -4.2233E-07 | -1.3039E-06 | 7.2353E-06 | 0.0045879 | -1.8085E-05 | 2.267E-06 | -7.5265E-07 | -1.3018E-05 | 1.2669E-05 | -1.8085E-05 | 0.0018191 | -2.0771E-05 | 2.0219E-05 | -2.2373E-07 | -1.9409E-08 | 2.267E-06 | -2.0771E-05 | 3.8731E-06 | -2.0202E-06 | 1.9275E-08 | -4.2233E-07 | -7.5265E-07 | 2.0219E-05 | -2.0202E-06 | 2.6566E-06 | -1.6725E-08 | -1.3039E-06 | -1.3018E-05 | -2.2373E-07 | 1.9275E-08 | -1.6725E-08 | 4.0044E-06 | -0.017048 | 0.17826 | 0.0017396 | 3.01331289767E-06 | 4.52483411156E-05 | 0.011519921948844 | -0.017048494890332 | 0.178262710571289 | 0.001739606261253 |
When I drag and drop it in LidarView and open in with Temporal Transforms Reader it loads as it should and looks like this:
When I try to reload trajectory within SLAM parameters in LidarView, I provide a path to the .csv file and get something like this when it loads:
The pink trajectory is the one that was dragged and dropped, outside of SLAM algorithm. Within SLAM algorithm that loads the trajectory I only get the last point of trajectory, you can see small red dot at the end of purple trajectory. Since the trajectory is not visualized within SLAM trajectory it leads me to believe that it was not reloaded correctly.
Now let's move to loop closure parameters. Within my .pcap file that has has saved lidar data, map is made with data 3350 to 12176. I would start mapping process with frame 3350 and stop with 12176. I would set my manual loop closure parameters like this and get these errors:
And for teaserpp I would do something like this:
I don't know if I am missing some steps or I am not approaching this problem correctly. I would appreciate all the help I can get. Thanks a lot