Application: `txt2mm`

txt2mm is a command-line utility provided by the MOLA and mp2p_icp frameworks for converting plain-text point cloud data (TXT/CSV) into a MOLA-compatible metric map (.mm) file.

Usage

txt2mm [--label <label>] [--id <ID>] [--column-t <index>] [--column-r <index>]
       [--column-i <index>] [--column-x <index>] [-l <layer>]
       -f <format> -o <out.mm> -i <input.txt> [--version] [-h]

Required Arguments

-i <input.txt>, --input <input.txt>

Path to the input file (TXT or CSV). Each row must represent one 3D point. Columns can be separated by spaces or commas. Column mapping depends on the selected format.

-o <out.mm>, --output <out.mm>

Output file in MOLA metric map (.mm) format.

-f <format>, --format <format>

Point cloud format. Mandatory flag.

Supported values:

xyz : Only XYZ coordinates.
xyzi : XYZ + intensity.
xyzirt : XYZ + intensity + ring + timestamp.
xyzrgb : XYZ + RGB (0–255 scale).
xyzrgb_normalized : XYZ + RGB (normalized [0–1] values).

Optional Arguments

--label <label>: Metric map label string. Default: none.
--id <ID>: Metric map numeric identifier. Default: none.
-l <layer>, --layer <layer>: Target layer name within the metric map. Default: raw.
--column-x <index>: Column index for the X coordinate. Default: 0.
--column-i <index>: Column index for the intensity channel. Default: 3.
--column-r <index>: Column index for the ring channel. Default: 4.
--column-t <index>: Column index for the timestamp channel. Default: 5.

Utility Flags

--version: Show version information and exit.
-h, --help: Show usage information and exit.
--, --ignore_rest: Ignore the rest of the arguments following this flag.

Examples

Convert a plain text file with XYZI data into a metric map:

txt2mm -i scan_xyzi.txt -o scan.mm -f xyzi

Convert a CSV file with XYZRGB data, mapping RGB values normalized between [0–1]:

txt2mm -i scan_xyzrgb.csv -o scan.mm -f xyzrgb_normalized --label "lidar_frame_01"

Use a different target layer name and assign a numeric ID:

txt2mm -i lidar_points.txt -o map_layer.mm -f xyzirt -l "velodyne" --id 42

Application: txt2mm