Troubleshooting

Troubleshooting

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GUI Opens but Point Clouds Look Wrong

Check:

• whether the selected session has the correct g2o, TUM, and key_point_frame files
• whether source and target are selected in the intended order
• whether the point-cloud mode is Temporal Window or RS Spatial Submap

Python Optimizer Not Available

Run:

python scripts/check_env.py

and verify that Python GTSAM can be imported.

C++ Backend Missing

This is expected for Python-only usage.

Only install the C++ backend if you explicitly need fallback or parity checks.

Exported Map Too Sparse

Check the export map voxel in Advanced.

• 0.0 means no export downsampling
• values larger than 0.0 will reduce map density

Session Browser Opens at Home

The GUI remembers the last successful session path. If it still resets unexpectedly, verify that the session was actually loaded successfully before reopening the file dialog.

A PALoc Session Fails Because g2o Has One Extra Vertex

Symptoms often look like:

• pose_graph.g2o has N+1 vertices
• optimized_poses_tum.txt has N rows
• key_point_frame/*.pcd has N files

The current GUI now handles the simple case where the extra g2o vertex is just a trailing unmatched vertex.

If you still see a load failure:

• make sure you are not reusing a stale g2o path from another session
• reload the PALoc session root directly
• if possible, regenerate the PALoc export after fixing PALoc's save path so g2o, TUM, and PCD counts match exactly