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| static TCLAP::ValueArg< std::string > | argCfgNameFiltersGlobal ("", "entry-name-filters-global", "Overrides the map name in the YAML configuration file for global map " "filter.", false, "filters", "filters", cmd) |
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| static TCLAP::ValueArg< std::string > | argCfgNameFiltersLocal ("", "entry-name-filters-local", "Overrides the map name in the YAML configuration file for local map " "filter.", false, "filters", "filters", cmd) |
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| static TCLAP::SwitchArg | argGenerateDebugFiles ("d", "generate-debug-log", "Enforces generation of the .icplog debug log files for posterior " "visualization with mp2p-icp-log-viewer, overriding the " "`generateDebugFiles` value in the configuration YAML file.", cmd) |
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| static TCLAP::ValueArg< std::string > | argInitialGuess ("", "guess", "SE(3) transformation of local wrt global, to use as initial guess for the " "ICP algorithm. " "Format: \"[x y z yaw_deg pitch_deg roll_deg]\"", false, "[0 0 0 0 0 0]", "[0 0 0 0 0 0]", cmd) |
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| static TCLAP::ValueArg< std::string > | argInputGlobal ("", "input-global", "Global input point cloud/map. Same format than input-local. ", true, "pointcloud2.txt", "pointcloud2.txt", cmd) |
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| static TCLAP::ValueArg< std::string > | argInputLocal ("", "input-local", "Local input point cloud/map." "It is interpreted as a rawlog entry if using the " "format `<RAWLOG_FILE.rawlog>:<N>` to select the N-th entry in the " "rawlog; otherwise, if the file extension is `.mm` it is loaded as a " "serialized metric_map_t object; if it is a `.icplog` file, the local map " "from that icp log is taken as input; in any other case, the file is " "assumed to be a 3D pointcloud stored as a Nx3 ASCII matrix file.", true, "pointcloud1.txt", "pointcloud1.txt", cmd) |
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| static TCLAP::ValueArg< std::string > | argYamlConfigFile ("c", "config", "YAML config file describing the ICP pipeline. See docs:\n" " https://docs.mola-slam.org/latest/" "module-mp2p-icp.html#yaml-pipeline-definition-files", true, "icp-config.yaml", "icp-config.yaml", cmd) |
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| static TCLAP::ValueArg< std::string > | argYamlConfigFileFiltersGlobal ("", "config-filters-global", "YAML config file describing a filtering pipeline for global map." "If not provided, and the main --config yaml file contains a" "`filters` entry (can be overriden with --entry-name-filters-global), it " "will be used instead.", false, "filters-config.yaml", "filters-config.yaml", cmd) |
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| static TCLAP::ValueArg< std::string > | argYamlConfigFileFiltersLocal ("", "config-filters-local", "YAML config file describing a filtering pipeline for local map." "If not provided, and the main --config yaml file contains a " "`filters` entry (can be overriden with --entry-name-filters-local), it " "will be used instead.", false, "filters-config.yaml", "filters-config.yaml", cmd) |
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| static TCLAP::ValueArg< std::string > | argYamlConfigFileGenerators ("", "config-generators", "YAML config file describing the Generators. Can be also defined via an " "entry `generators` in the main `--config` yaml file. " "Can be used when processing a rawlog as input; if not present, a default " "Generator object will be used.", false, "generators-config.yaml", "generators-config.yaml", cmd) |
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| static TCLAP::CmdLine | cmd ("mp2p-icp-run") |
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| static mp2p_icp::metric_map_t::Ptr | load_input_pc (const std::string &filename, bool local) |
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| static mrpt::obs::CRawlog::Ptr | load_rawlog (const std::string &filename) |
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| int | main (int argc, char **argv) |
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| static mp2p_icp::metric_map_t::Ptr | pc_from_rawlog (const mrpt::obs::CRawlog &r, const size_t index) |
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| void | runIcp () |
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