Application: `kitti2mm`

This CLI tool converts KITTI dataset LIDAR binary files (.bin) with (X,Y,Z, Intensity) data into mp2p_icp metric map files (.mm).

The KITTI dataset stores point cloud data in a binary format. This tool reads those files and converts them into the mp2p_icp metric map format, optionally setting the layer name, numeric ID, and label string for the resulting map.

USAGE:

kitti2mm  [-l <raw>] [--label <label>] [--id <ID>] -o <out.mm> -i
          <kitti-00.bin> [--] [--version] [-h]


Where:

-l <raw>,  --layer <raw>
    Target layer name (Default: "raw").

--label <label>
    Metric map label string (Default: none).

--id <ID>
    Metric map numeric ID (Default: none).

-o <out.mm>,  --output <out.mm>
    (required)  Output file to write to.

-i <kitti-00.bin>,  --input <kitti-00.bin>
    (required)  KITTI .bin pointcloud file.

--,  --ignore_rest
    Ignores the rest of the labeled arguments following this flag.

--version
    Displays version information and exits.

-h,  --help
    Displays usage information and exits.

Example usage

Convert a KITTI binary point cloud file to a metric map:

kitti2mm -i /path/to/kitti/velodyne/000000.bin -o output.mm

Convert with a custom layer name and label:

kitti2mm -i scan.bin -o scan.mm -l lidar_points --label "KITTI Sequence 00 Frame 42" --id 42

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