apps/sm2mm/main.cpp File Reference

CLI tool to parse a SimpleMap (from SLAM) to metric maps (mm) via a configurable pipeline. More...

#include <mp2p_icp_filters/sm2mm.h>
#include <mrpt/3rdparty/tclap/CmdLine.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/io/lazy_load_path.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/system/filesystem.h>

Include dependency graph for apps/sm2mm/main.cpp:

Go to the source code of this file.

Functions
static TCLAP::ValueArg< std::string >	arg_lazy_load_base_dir ("", "externals-dir", "Lazy-load base directory for datasets with externally-stored observations", false, "dataset_Images", "<ExternalsDirectory>", cmd)
static TCLAP::ValueArg< std::string >	arg_verbosity_level ("v", "verbosity", "Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)", false, "", "INFO", cmd)
static TCLAP::ValueArg< size_t >	argIndexFrom ("", "from-index", "If provided, the simplemap keyframes until this index will be discarded " "and it will start at this point.", false, 0, "0", cmd)
static TCLAP::ValueArg< size_t >	argIndexTo ("", "to-index", "If provided, the simplemap keyframes will be processed up to this index " "only.", false, 0, "0", cmd)
static TCLAP::ValueArg< std::string >	argInput ("i", "input", "Input .simplemap file", true, "map.simplemap", "map.simplemap", cmd)
static TCLAP::SwitchArg	argNoProgressBar ("", "no-progress-bar", "Disables the progress bar. Useful for cleaner output when using DEBUG " "verbosity level.", cmd)
static TCLAP::ValueArg< std::string >	argOutput ("o", "output", "Output .mm file to write to", true, "out.mm", "out.mm", cmd)
static TCLAP::ValueArg< std::string >	argPipeline ("p", "pipeline", "YAML file with the mp2p_icp_filters pipeline to load. It can optionally " "contain a `filters:`, a `generators:`, and a `final_filters:` sections. " "If this argument is not provided, the default generator will be used and " "no filtering will be applied, which might be ok in some cases. " "See the app README for examples:\n" "https://github.com/MOLAorg/mp2p_icp/tree/master/apps/sm2mm", false, "pipeline.yaml", "pipeline.yaml", cmd)
static TCLAP::ValueArg< std::string >	argPlugins ("l", "load-plugins", "One or more (comma separated) *.so files to load as plugins, e.g. " "defining new CMetricMap classes", false, "foobar.so", "foobar.so", cmd)
static TCLAP::CmdLine	cmd ("sm2mm")
int	main (int argc, char **argv)
void	run_sm_to_mm ()

Detailed Description

CLI tool to parse a SimpleMap (from SLAM) to metric maps (mm) via a configurable pipeline.

Author

Jose Luis Blanco Claraco

Date

Dec 15, 2023

Definition in file apps/sm2mm/main.cpp.

Function Documentation

arg_lazy_load_base_dir()

static TCLAP::ValueArg<std::string> arg_lazy_load_base_dir ( ""  , "externals-dir"  , "Lazy-load base directory for datasets with externally-stored observations"  , false  , "dataset_Images"  , "<ExternalsDirectory>"  , cmd    )

static

arg_verbosity_level()

static TCLAP::ValueArg<std::string> arg_verbosity_level ( "v"  , "verbosity"  , "Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)"  , false  , ""  , "INFO"  , cmd    )

static

argIndexFrom()

static TCLAP::ValueArg<size_t> argIndexFrom ( ""  , "from-index"  , "If  provided, the simplemap keyframes until this index will be discarded " "and it will start at this point."  , false  , 0  , "0"  , cmd    )

static

argIndexTo()

static TCLAP::ValueArg<size_t> argIndexTo ( ""  , "to-index"  , "If  provided, the simplemap keyframes will be processed up to this index " "only."  , false  , 0  , "0"  , cmd    )

static

argInput()

static TCLAP::ValueArg<std::string> argInput ( "i"  , "input"  , "Input .simplemap file"  , true  , "map.simplemap"  , "map.simplemap"  , cmd    )

static

argNoProgressBar()

static TCLAP::SwitchArg argNoProgressBar ( ""  , "no-progress-bar"  , "Disables the progress bar. Useful for cleaner output when using DEBUG " "verbosity level."  , cmd    )

static

argOutput()

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

static

argPipeline()

static TCLAP::ValueArg<std::string> argPipeline ( "p"  , "pipeline"  , "YAML file with the mp2p_icp_filters pipeline to load. It can optionally " "contain a `filters:`  , a `generators:`  , and a `final_filters:` sections. " "If this argument is not  provided, the default generator will be used and " "no filtering will be  applied, which might be ok in some cases. " "See the app README for examples:\n" "https://github.com/MOLAorg/mp2p_icp/tree/master/apps/sm2mm"  , false  , "pipeline.yaml"  , "pipeline.yaml"  , cmd    )

static

argPlugins()

static TCLAP::ValueArg<std::string> argPlugins ( "l"  , "load-plugins"  , "One or more (comma separated) *.so files to load as  plugins, e.g. " "defining new CMetricMap classes"  , false  , "foobar.so"  , "foobar.so"  , cmd    )

static

cmd()

static TCLAP::CmdLine cmd ( "sm2mm"  )

static

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 136 of file apps/sm2mm/main.cpp.

run_sm_to_mm()

void run_sm_to_mm

(

)

Definition at line 76 of file apps/sm2mm/main.cpp.