Hi @baldpixels,
In order to be able to load an external trajectory, it needs to satisfy the 3 following requirements :
- It shall have the correct formatting: yours seems correct
- It shall come with an external calibration file so that the SLAM know the transform between the poses and the LiDAR data => have you provided this file in your test ? And do you know this calibration ?
- It shall be synchronized with the LiDAR time : in your csv file the time array starts at 3 seconds. And hard to say for sure your without your pcap data, but LiDAR data is usually in POSIX time (now would be 1712045779 )
When those conditions are satisfied, you may do the following to use it in the SLAM :.
- Create a SLAM filter.
- Use the “External sensors” field and load a CSV file containing synchronized poses. Change the following parameters: “Undistortion: External”, “Motion extrapolation: External”, “pose weight = 100000000” (this last parameter should appear in a new section at the bottom of the “Properties” window when the CSV file is entered).
- Launch the SLAM.
For refinement at the end: check “Use pose graph”. Check “external pose” in the pose graph settings section and click on “Optimize graph”.
Would it be possible to send your pcap file ( even privately), so we can also have a look and see if the SLAM can also be improved in that scenario without external poses ?
You may also consider using latest LidarView/SLAM.
Artifacts of master are available here
Latest release available here
Hope this helps,
Gatien