Manual Object Removal

About

Interactive map editor allows users to manually annotate and remove object points from the map. This is useful for removing objects that are not relevant to the mapping task, such as trees, cars, and pedestrians.

Note that while editing the map, the submap poses (i.e., factor graph) are frozen and not updated. If you need to update the submap poses, please use the offline viewer.

Example

Example dump data:

• inarimae_mmm.tar.gz [245MB] (3 sessions in large outdoor)

Start map editor

ros2 run glim_ros map_editor

Open a mapping result

• File -> Open New Map -> Select a dump directory and click Open.

Object selection and removal (MinCut segmentation)

• Right click a point on an object to be removed to open a context menu.
• Segmentation -> Select MinCut -> Adjust Foreground radius and Background radius
  • Points in the foreground radius (shown by a red sphere) are labeled as foreground
  • Points outside the background radius (shown by a blue sphere) are labeled as background
• Click Segment to segment the object
• Click Remove selected points to remove the selected points from the map

Context menu	Selected points	After removal

Plane selection and removal (Region growing segmentation)

• Right click a point on a plane to be removed to open a context menu.
• Segmentation -> Select RegionGrowing -> Adjust Angle threshold and Distance threshold
• Click Segment to segment the plane
• Click Remove selected points to remove the selected points from the map

Context menu	Selected points

Manual points selection and removal (Gizmo UI)

• Click the checkbox just left to Selection tool to show the Gizmo UI.
  • It is also possible to show the Gizmo UI by clicking Show Gizmo here from the right-click context menu.
• Manipulate the Gizmo UI to cover the points to be removed.
• Click Select points to select the points covered by the Gizmo UI.
• Click Remove selected points to remove the selected points from the map

Gizmo UI	Selected points

Radius selection and removal

1. Right click a point on the map to open a context menu.
2. Radius tools -> Adjust Radius so that it covers the points to be removed -> Click Select points within radius.
3. Click Remove selected points to remove the selected points from the map

Radius outlier removal (Noise removal)

1. Right click a point on the map to open a context menu.
2. Radius tools -> Adjust Radius so that it covers the outlier points to be removed -> Click Select points outside radius.
3. Click Remove selected points to remove the selected points from the map

Context menu	Selected points	After removal