apps/txt2mm/main.cpp File Reference

CLI tool to convert pointclouds from CSV/TXT files to mp2p_icp mm. More...

#include <mp2p_icp/metricmap.h>
#include <mrpt/3rdparty/tclap/CmdLine.h>
#include <mrpt/maps/CPointsMapXYZI.h>
#include <mrpt/maps/CPointsMapXYZIRT.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/CMatrixDynamic.h>
#include <mrpt/obs/CObservationPointCloud.h>
#include <mrpt/system/filesystem.h>

Include dependency graph for apps/txt2mm/main.cpp:

Go to the source code of this file.

Functions
static TCLAP::ValueArg< std::string >	argFormat ("f", "format", "Point cloud format. Mandatory flag.\n" "Options: (xyz|xyzi|xyzirt)", true, "xyz", "(xyz|xyzi|xyzirt)", cmd)
static TCLAP::ValueArg< uint64_t >	argID ("", "id", "Metric map numeric ID (Default: none).", false, 0, "[ID]", cmd)
static TCLAP::ValueArg< int >	argIndexI ("", "column-i", "Column index for the Intensity channel in the input data (Default: 3).", false, 3, "column index", cmd)
static TCLAP::ValueArg< int >	argIndexR ("", "column-r", "Column index for the Ring channel in the input data (Default: 4).", false, 4, "column index", cmd)
static TCLAP::ValueArg< int >	argIndexT ("", "column-t", "Column index for the Timestamp channel in the input data (Default: 5).", false, 5, "column index", cmd)
static TCLAP::ValueArg< int >	argIndexXYZ ("", "column-x", "Column index for the X coordinate in the input data (Default: 0).", false, 0, "column index", cmd)
static TCLAP::ValueArg< std::string >	argInput ("i", "input", "Path to input TXT or CSV file. One point per row. Columns separated by " "spaces or commas. See docs for supported formats.", true, "input.txt", "input.txt", cmd)
static TCLAP::ValueArg< std::string >	argLabel ("", "label", "Metric map label string (Default: none).", false, "label", "[label]", cmd)
static TCLAP::ValueArg< std::string >	argLayer ("l", "layer", "Target layer name (Default: \"raw\").", false, "raw", "raw", cmd)
static TCLAP::ValueArg< std::string >	argOutput ("o", "output", "Output file to write to.", true, "out.mm", "out.mm", cmd)
static TCLAP::CmdLine	cmd ("txt2mm")
int	main (int argc, char **argv)

Detailed Description

CLI tool to convert pointclouds from CSV/TXT files to mp2p_icp mm.

Author

Jose Luis Blanco Claraco

Date

Feb 14, 2024

Definition in file apps/txt2mm/main.cpp.

Function Documentation

argFormat()

static TCLAP::ValueArg<std::string> argFormat ( "f"  , "format"  , "Point cloud format. Mandatory flag.\n" "Options: (xyz|xyzi|xyzirt)"  , true  , "xyz"  , "(xyz|xyzi|xyzirt)"  , cmd    )

static

argID()

static TCLAP::ValueArg<uint64_t> argID ( ""  , "id"  , "Metric map numeric ID (Default: none)."  , false  , 0  , ""  [ID], cmd    )

static

argIndexI()

static TCLAP::ValueArg<int> argIndexI ( ""  , "column-i"  , "Column index for the Intensity channel in the input data (Default: 3)."  , false  , 3  , "column index"  , cmd    )

static

argIndexR()

static TCLAP::ValueArg<int> argIndexR ( ""  , "column-r"  , "Column index for the Ring channel in the input data (Default: 4)."  , false  , 4  , "column index"  , cmd    )

static

argIndexT()

static TCLAP::ValueArg<int> argIndexT ( ""  , "column-t"  , "Column index for the Timestamp channel in the input data (Default: 5)."  , false  , 5  , "column index"  , cmd    )

static

argIndexXYZ()

static TCLAP::ValueArg<int> argIndexXYZ ( ""  , "column-x"  , "Column index for the X coordinate in the input data (Default: 0)."  , false  , 0  , "column index"  , cmd    )

static

argInput()

static TCLAP::ValueArg<std::string> argInput ( "i"  , "input"  , "Path to input TXT or CSV file. One point per row. Columns separated by " "spaces or commas. See docs for supported formats."  , true  , "input.txt"  , "input.txt"  , cmd    )

static

argLabel()

static TCLAP::ValueArg<std::string> argLabel ( ""  , "label"  , "Metric map label string (Default: none)."  , false  , "label"  , ""  [label], cmd    )

static

argLayer()

static TCLAP::ValueArg<std::string> argLayer ( "l"  , "layer"  , "Target layer name (Default: \"raw\")."  , false  , "raw"  , "raw"  , cmd    )

static

argOutput()

static TCLAP::ValueArg<std::string> argOutput ( "o"  , "output"  , "Output file to write to."  , true  , "out.mm"  , "out.mm"  , cmd    )

static

cmd()

static TCLAP::CmdLine cmd ( "txt2mm"  )

static

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 72 of file apps/txt2mm/main.cpp.