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

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.

Answer 1

[Tushar]

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

Answer 2

[Akshai Manchana]

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