Morphing pointcloud

[Sau72]

What a methods here are exists for morphing pointcloud?

1. Manual loop closure
2. import nmea, gnss and fuse trajectory in manual loop closure.
3. Any other?

What is TUM format? Where are i can look sample of file?
What is GNSS format? Where are i can look sample of file?

I have a walk scan arount building. Length of path - 265m.
I had closed trajectory and seen, that IMU drift and have some error (point 1 at screenshot). I had added CP (control points) and seen error in dx,dy,dz. But i can manual loop closure and it`s fixing CP error to zero.

But what doing, if my scan stopped at point 2. I don`t have overlap of scans, but know about errors in CP (big dx,dy,dz).
How i can fix scan?

I can gnss some GCP point. How i can align trajectory to known GNSS points? Generating nmea or gnss file with timestamps of pointcloud can help me? Will be it works, if file consist from 5-10 points?

[mwlasiuk]

What a methods here are exists for morphing pointcloud?

1. Manual loop closure
2. import nmea, gnss and fuse trajectory in manual loop closure.
3. Any other?

What is TUM format? Where are i can look sample of file? What is GNSS format? Where are i can look sample of file?

I have a walk scan arount building. Length of path - 265m. I had closed trajectory and seen, that IMU drift and have some error (point 1 at screenshot). I had added CP (control points) and seen error in dx,dy,dz. But i can manual loop closure and it`s fixing CP error to zero.

But what doing, if my scan stopped at point 2. I don`t have overlap of scans, but know about errors in CP (big dx,dy,dz). How i can fix scan?

I can gnss some GCP point. How i can align trajectory to known GNSS points? Generating nmea or gnss file with timestamps of pointcloud can help me? Will be it works, if file consist from 5-10 points?

1. TUM format
2. GNSS format

[Sau72]

I had checked morphing with TUM format, it``s alpha version, but method is working. For big IMU drift, i can separate scan by 2 parts and process them separate (for example IMU drift in low pass in cave). But for long linear objects i can`t find trouble place, so try this method:

1. Save trajectory to (x,y,z,qx,qy,qz,qw) format in coord.csv file.

2. Using Shift+LBM select known GCP in trajectory.
3. Take coordinate of camera: X, Y, Z

4. Find string with camera coord in coord.csv, cut it and paste in new file - coord.tum.
5. repeat steps 2...4 for all GCP.
6. edit file coord.tum:
   6.1) change seperator "," to "space".
   6.2) convert timestamp to seconds (divide by 10e9).
   6.3) change X, Y, Z to real, gnss/total station defined points.

7. Open TUM trajectory in Step2.
8. Open Manual Loop Closure.
9. Fuse trajectory with TUM.
10. Click Compute Pose Graph SLAM several times.

Before

After