unable to load Poses(Odometry) data in the slamMapBuilder app

2 次查看（过去 30 天）
Rahul
Rahul 2022-11-16
回答： Akshai Manchana 2024-3-11
I have attached the snapshots of the Scans data and Odometry data that I have. I load both the .mat files in the workspace and when i try to use the slamMapBuilder app, I am unable to see the Odometry data which I loaded.

请先登录，再回答此问题。

采纳的回答

Tushar
Tushar 2023-9-12
Hi Rahul,
I understand that you are looking to import the 'Scans' data and 'Odometry' data from a MAT-file to the 'SLAM Map Builder' App. I have tried reproducing the issue at my end by referring to the example 'Build and Tune a Map Using Lidar Scans with SLAM' in the below link -
https://www.mathworks.com/help/nav/ref/slammapbuilder-app.html
I have used the 'scans' variable from the above example and put together a random Odometry data to test out the importing process. Here are a few points which would help you:
  • The poses(Odometry) variable must be a 'cell array' of 1-by-3 finite double vectors, or an N-by-3 finite double matrix.
  • I tried out the former one, the variable showed up on the SLAM Map Builder App.
  • The number of odometry poses must match the number of scans.
I hope the above points will help you identify the issue in your data and let you successfully import it onto the SLAM Map Builder App.
Best Regards,
Tushar Agarwal

更多回答（1 个）

Akshai Manchana
Akshai Manchana 2024-3-11
Hi Rahul,
I hope your issue got resolved.
As Tushar suggested SLAM Map builder expected the odometry data to be a double N-by-3 matrix instead of the single type used in the shown example image. A potential fix is to convert it to double matrix and refresh the workspace.
odometry_data = double(odometry_data);
Thanks & Regards
Akshai Manchana

类别

在 Help Center 和 File Exchange 中查找有关 Point Cloud Processing 的更多信息

标签

产品


版本

R2022b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by