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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Google earth #530

Open Quitino opened 4 years ago

Quitino commented 4 years ago

Thank you very much for your excellent work. When I read the wiki, I found that SLAM Trajectory can be imported into Google earth display. How do you do this?thank you.

matlabbe commented 4 years ago

The database should have GPS recorded in it, then the options:

  1. File->Export Poses...-> Google Earth (*.kml)
  2. File->Export GPS...-> Google Earth (*.kml)

will be enabled in rtabmap-databaseViewer tool. Example from database downloaded from here:

$ rtabmap-databaseViewer loop_3it_gps.db

Screenshot from 2020-04-17 17-46-12

petterhs commented 3 years ago

Hi! Does this method still work? When I try with the example database linked above I get this result: loop_3it_gps

Similar results when I use my own DB

matlabbe commented 3 years ago

Hi, I tested on https://earth.google.com/web/ and it still work. Screenshot from 2021-09-08 17-40-17 Screenshot from 2021-09-08 17-40-52

The kml:

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2">
<Document>
    <name>/home/mathieu/Downloads/gps.kml</name>
    <StyleMap id="msn_ylw-pushpin">
        <Pair>
            <key>normal</key>
            <styleUrl>#sn_ylw-pushpin</styleUrl>
        </Pair>
        <Pair>
            <key>highlight</key>
            <styleUrl>#sh_ylw-pushpin</styleUrl>
        </Pair>
    </StyleMap>
    <Style id="sh_ylw-pushpin">
        <IconStyle>
            <scale>1.2</scale>
        </IconStyle>
        <LineStyle>
            <color>ff808000</color>
        </LineStyle>
    </Style>
    <Style id="sn_ylw-pushpin">
        <LineStyle>
            <color>ff808000</color>
        </LineStyle>
    </Style>
    <Placemark>
        <name>/home/mathieu/Downloads/gps</name>
        <styleUrl>#msn_ylw-pushpin</styleUrl>       <LineString>
            <coordinates>
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            </coordinates>
        </LineString>
    </Placemark>
</Document>
</kml>
petterhs commented 3 years ago

Thank you! Found the issue. For some reason the decimal separators are "," in the .kml files I export instead of ".". Probably because commas are defaults in my country. Not sure where to fix it though or if it is a problem elsewhere.

Should I open a new issue on this?

Here is my kml file:

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2">
<Document>
    <name>/home/petter/Downloads/gps2.kml</name>
    <StyleMap id="msn_ylw-pushpin">
        <Pair>
            <key>normal</key>
            <styleUrl>#sn_ylw-pushpin</styleUrl>
        </Pair>
        <Pair>
            <key>highlight</key>
            <styleUrl>#sh_ylw-pushpin</styleUrl>
        </Pair>
    </StyleMap>
    <Style id="sh_ylw-pushpin">
        <IconStyle>
            <scale>1.2</scale>
        </IconStyle>
        <LineStyle>
            <color>ff808000</color>
        </LineStyle>
    </Style>
    <Style id="sn_ylw-pushpin">
        <LineStyle>
            <color>ff808000</color>
        </LineStyle>
    </Style>
    <Placemark>
        <name>/home/petter/Downloads/gps2</name>
        <styleUrl>#msn_ylw-pushpin</styleUrl>       <LineString>
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matlabbe commented 3 years ago

Hi,

This is a common problem for any code using "printf" or "fprintf" with %f format. Depending on your computer locale, it will output a .or a ,. The values are exported here: https://github.com/introlab/rtabmap/blob/2fcef88016b90c5e10b1b1eb012b76cfd3fc84f1/corelib/src/Graph.cpp#L526

Related issue: http://official-rtab-map-forum.206.s1.nabble.com/play-rgbd-dataset-freiburg2-tp1714p1787.html

$ export LANG="en_US.UTF-8"

see also https://stackoverflow.com/questions/12845638/how-do-i-change-the-decimal-separator-in-the-printf-command-in-bash