Application: mm-filter

This CLI tool applies sm2mm pipelines to metric map files (.mm).

The tool can operate in two modes:

• Pipeline mode: Applies a complete mp2p_icp_filters pipeline defined in a YAML configuration file to transform and filter the point cloud data in the metric map.

• Rename mode: Simply renames a layer within the metric map from one name to another.

USAGE:

mm-filter  [-v <INFO>] [--rename-layer <"NAME|NEW_NAME">] [-p
           <pipeline.yaml>] [-l <foobar.so>] -o <out.mm> -i <input.mm>
           [--] [--version] [-h]


Where:

-v <INFO>,  --verbosity <INFO>
    Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)

--rename-layer <"NAME|NEW_NAME">
    Alternative operation: instead of applying a pipeline, just renames a
    layer from NAME to NEW_NAME.

-p <pipeline.yaml>,  --pipeline <pipeline.yaml>
    YAML file with the mp2p_icp_filters pipeline to load. It must contain
    a `filters:` section, and may optionally contain a `generators:`
    section (same syntax as in sm2mm pipelines) used to create brand-new,
    empty layers of an arbitrary metric map class before the `filters:`
    section runs. See the app README for examples:
    https://github.com/MOLAorg/mp2p_icp/tree/develop/mp2p_icp_core/apps/mm-filter

-l <foobar.so>,  --load-plugins <foobar.so>
    One or more (comma separated) *.so files to load as plugins

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

-i <input.mm>,  --input <input.mm>
    (required)  Input .mm 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

Apply a filter pipeline to a metric map:

mm-filter -i input.mm -o filtered.mm -p my_pipeline.yaml

Apply a filter pipeline with custom verbosity:

mm-filter -i input.mm -o filtered.mm -p my_pipeline.yaml -v DEBUG

Rename a layer within a metric map:

mm-filter -i input.mm -o output.mm --rename-layer "raw|processed"

Load custom plugins and apply a pipeline:

mm-filter -i input.mm -o output.mm -p pipeline.yaml -l my_custom_filters.so

Create a new layer of an arbitrary map class, then merge points into it:

mm-filter -i input.mm -o output.mm -p mm-filter_create_keyframe_map_layer.yaml -l libmola_metric_maps.so

See demos/mm-filter_create_keyframe_map_layer.yaml for a complete example using a generators: section to instantiate an empty mola::KeyframePointCloudMap layer, then FilterMerge to insert an existing point cloud layer into it – useful e.g. to turn a map built with txt2mm, kitti2mm, or sm2mm into one suitable for GICP localization-only mode.