- calculation of transformation based on GNSS and SLAM trajectories
- trajectories do not have to be time-synchronized
- manual selection of control points (for Rubber-Sheet transformation) allows selection of points with high accuracy
- either GNSS OR SLAM trajectory chosen as master => other trajectory matched to it (georeferencing only possible if GNSS as master)
- application of calculated transformation on lanelet map/OpenStreetMap excerpt
- GNSS trajectory projected into local coordinate system using UTM-projection from the lanelet2 library
- origin of grid for projection set to first GNSSS point
- Coordinates from OpenStreetMap projected the same way
- screenshot below shows results of projection of GPS trajectory for test data
- target trajectory aligned to master using Umeyama algorithm transformation
- Umeyama algorithm requires equivalent amount of points between trajectories => a predefined amount of points (=> config file) is interpolated over the length of the trajectory
- application of calculated transformation on target trajectory, lanelet map/OpenStreetMap excerpt (depending on master)
- screenshot below shows results of alignment of SLAM trajectory to projected GPS trajectory
- piecewise linear rubber-sheet transformation in 2D based Griffin & White
- manual selection of control points in RVIZ (see main documentation)
- application of calculated transformation on target trajectory, lanelet map/OpenStreetMap excerpt (depending on master)
- the two screenshots below show selected control points on the aligned trajectories from step 2 and the results of the rubber-sheet transformation
- if GNSS is chosen as master (=> GNSS trajectory is master trajectory), the point cloud map corresponding to the lanelet map and the SLAM trajectory can also be transformed within
lanelet2_osm(adjust the corresponding parameters in the config file) - if you are only interested in the georeferencing of the point cloud map, you may choose the executable
kiss_icp_georef