Exwayz odometry filter aims at removing odometry points that are unreliable, as they can cause the further operations (optimization using exwayz_georef.exe for instance) to fail.
The principle is to compute the jerks (acceleration derivative) and trim trajectory portions where it is too high.
| Name | Command line prefix | Default value | Definition |
|---|---|---|---|
| Input trajectory | -i |
Required | Path to the input trajectory in .ply , mainly designed to filter traj_odometry.ply as output by ‣ |
| Jerk threshold | -t |
2.0 | Maximum absolute value of the jerk tolerated by the filter. All points with a higher jerk and their adjacent points will be filtered. |
| Outlier margin | -m |
30 | Margin taken by the filter around points with a too great jerk. The -m adjacent points (before and after) outliers will be filtered as well. |
| Minimum segment size | --min-segment-size |
50.0 | Minimum length (in m) of a segment left by the filter. Too small segments can lead to optimization failure in further steps. |
| Remove linear segments | --remove-linear-segments |
5.0 | If activated, this option will detect segments that very linear and will remove them from the filtered trajectory. Note that linear segments cannot be fused with input GNSS measure solely, angles are necessary as well. If they are not available in your extracted trajectory, please make sure to remove them. |
| Help | -h |
- | Display the help. |
<input_pc>_filtered.ply |
Filtered odometry trajectory. |
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