Application: sm2mm

Convert a `*.simplemap` file into a `*.mm` metric map using a pipeline configuration.

Synopsis

The sm2mm command-line tool is a utility from the mp2p_icp project designed to transform a “simple map” file, a “key-frame map” typically generated by a SLAM system and having the .simplemap extension, into a “metric map” file (.mm extension). Recall that metric maps in mp2p_icp can have multiple map layers. This conversion is performed by applying a user-defined processing pipeline, specified in a configuration file, to the simple map data.

This tool is for post-processing SLAM outputs, enabling the generation of detailed and structured metric representations of the environment suitable for various applications, such as navigation, visualization, or further geometric analysis.

Note

Pipeline files are explained in this page, together with examples.

CLI Reference

USAGE:

sm2mm  [--to-index <0>] [--from-index <0>] [--profiler]
        [--no-progress-bar] [--externals-dir <<ExternalsDirectory>>] [-v
        <INFO>] [-p <pipeline.yaml>] [-l <foobar.so>] -o <out.mm> -i
        <map.simplemap> [--] [--version] [-h]


Where:

--to-index <0>
    If provided, the simplemap keyframes will be processed up to this
    index only.

--from-index <0>
    If provided, the simplemap keyframes until this index will be
    discarded and it will start at this point.

--profiler
    Enables profiler.

--no-progress-bar
    Disables the progress bar. Useful for cleaner output when using DEBUG
    verbosity level.

--externals-dir <<ExternalsDirectory>>
    Lazy-load base directory for datasets with externally-stored
    observations

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

-p <pipeline.yaml>,  --pipeline <pipeline.yaml>
    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:

    https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm

-l <foobar.so>,  --load-plugins <foobar.so>
    One or more (comma separated) *.so files to load as plugins, e.g.
    defining new CMetricMap classes

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

-i <map.simplemap>,  --input <map.simplemap>
    (required)  Input .simplemap 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.