Trajectories

The Trajectories section of the Project window shows all trajectories present in the project:

Active Trajectory

It's possible to have several trajectories that cover the same time range - such is the case in the example shown above. Only the active trajectory will be used for fusing a pointcloud. The active trajectory is displayed in bold font, which in this case is the POF trajectory created by LiDARSnap.

If you merge multiple PLP files into one project, you will have several active trajectories, corresponding to the number of PLPs merged.

If you change the active trajectory, by activating a new trajectory, the pointcloud will need to be recomputed using the recompute button to reflect the updated positions of all points.

Types of Trajectories

Various trajectory formats are processable in SpatialExplorer:

• NAV: A real-time trajectory created by the navigation system during data acquisition. This trajectory is not suitable for producing deliverable data but can be useful for fusing pointclouds in the field as part of a field check.

• CTS: A tightly coupled trajectory. This is the default format of LiDARMill produced trajectories. Can be suitable for data production but may, particularly in the case of mobile or pedestrian lidar applications, contain errors which require LiDARSnap optimization.

• CLS: A loosely coupled trajectory. Similar to CTS in terms of quality.

• POF: Typically, POF files are produced by LiDARSnap, however Riegl software applications also use the POF format. An optimized POF trajectory created by LiDARSnap is the recommended trajectory for data production.

• OUT: An SBET trajectory. Commonly produced by 3rd party software. Suitable for data production.

Tools

• Open Trajectory Folder: Opens the folder where the trajectory is stored.
• Activate Trajectory: Sets the trajectory as the active trajectory, for which all lidar and camera records should reference to obtain world positions.
• Show Trajectory Report: Shows associated trajectory report, only available for trajectories created using NavLab Embedded.

• Export Trajectory: Exports the trajectory to a variety different trajectory file formats (POF, OUT/SBET, TXT, TRJ)
• Select Color: Selects the color used to visualize the trajectory in the main view.
• Clear Trajectory: Used in real-time to clear the trajectory in the main view.
• Remove Trajectory: Removes trajectory from the project.