Aerial Lidar SLAM processing help

I am very new to matlab and i am trying to utilise the Aerial LiDAR SLAM to process my UAV LiDAR data. My issue currently is this, i have changed the datafile to represent my .pcap cloud point data and waypointfile to represent my .csv data (convertred to .mat file), however, the error message is generated at lines 5 and 41 of the code, I understand i need to change gTruthWayPts, however, i am uncertain what to change it too. Can anyone please help me?

Answer 1

[Hari]

Hi Jacinda Page,

I understand that you are encountering an error message stating "Unrecognized field name 'gTruthTraj' ". This error appears to occur within a function called "helperCreateDataset", which is being called from a script named "Aerial_Slam_LiDAR". The error suggests that there is an attempt to access a field named 'gTruthTraj' in a variable or structure that does not contain this field.

Assuming that the variable "traj" is meant to be a structure containing the field "gTruthTraj", and that the script and function are part of a larger project or framework for working with aerial LiDAR data and SLAM (Simultaneous Localization and Mapping).

To address the issue, you should verify that the variable "traj" indeed contains the field "gTruthTraj". You can use the "isfield" function to check for the existence of this field before trying to access it.

if isfield(traj, 'gTruthTraj')
    % Your existing code to process gTruthTraj
else
    error('The field gTruthTraj does not exist in the variable traj.');
end

Ensure that the data you are loading into "traj" is correct and that it contains all the necessary fields, including "gTruthTraj". If the field should exist but is missing, you may need to revisit the code or process that generates or loads "traj".

Refer to the documentation of the "isfield" function to check for the existence of a field within a structure:

"isfield Documentation" - https://www.mathworks.com/help/matlab/ref/isfield.html

For more information on how to debug MATLAB code and handle errors, the following documentation may be helpful:

"Debugging in MATLAB" - https://www.mathworks.com/help/matlab/debugging-code.html

Hope this helps!