step2: persist ENU origin + GNSS/TUM tracks in session file - #514
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step2: persist ENU origin + GNSS/TUM tracks in session file#514michalpelka wants to merge 1 commit into
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Session::save()/load() only handle point clouds, so the GNSS track, TUM track and ENU projection origin (previously always re-derived from the first GNSS pose) are now written into / read back from the *.mjs JSON as extra "enu_origin", "gnss_measurements" and "tum_trajectory" keys. All keys are optional; older sessions load unchanged. Also fix Session::load() path resolution: getNewPath() now keeps a referenced .laz/.csv path as-is when it still exists on disk, only relocating next to the session file as a fallback. This lets a session saved to a directory other than the one holding its scan files (e.g. one level up from a lio_result_* folder) reload its point clouds. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> New PoseGraphLoopClosure::use_gnss_correspondences flag (default true). When off, graph_slam() adds no GNSS <-> LiDAR-trajectory observations to the optimisation; the GNSS track is still drawn. Exposed as a checkbox in the Manual Pose Graph Loop Closure GUI when GNSS poses are loaded. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Session::save()/load() only handle point clouds, so the GNSS track, TUM track and ENU projection origin (previously always re-derived from the first GNSS pose) are now written into / read back from the *.mjs JSON as extra "enu_origin", "gnss_measurements" and "tum_trajectory" keys. All keys are optional; older sessions load unchanged.
Also fix Session::load() path resolution: getNewPath() now keeps a referenced .laz/.csv path as-is when it still exists on disk, only relocating next to the session file as a fallback. This lets a session saved to a directory other than the one holding its scan files (e.g. one level up from a lio_result_* folder) reload its point clouds.
New PoseGraphLoopClosure::use_gnss_correspondences flag (default true). When off, graph_slam() adds no GNSS <-> LiDAR-trajectory observations to the optimisation; the GNSS track is still drawn. Exposed as a checkbox in the Manual Pose Graph Loop Closure GUI when GNSS poses are loaded.