kaarta STENCIL 2 - Command Line Tools for Post-Processing; Generate scan_info.txt File; Fix ply Vertex Count Utility; Align Multiple Geo-registered.ply Files

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C OMMAND L INE TOOLS
Kaarta has added a lot of command line scripts to help make post-processing of files easier for
the user. Several of these tools can significantly increase the size of the point cloud files as well
as delete scalars if run out of order. In general, the following order ensures you get the best
results without losing any data in the new files. You don’t actually lose any data, it is just not
copied into the new file.
1. Get the best point cloud result by adjusting the playback parameters for Adaptive Data
Replay
2. Run Loop Closure if needed.
3. Run the Moving Object Removal Command Line Tool
4. Run the Adding Scalars (Cleaning) Command Line Tool
5. Run the Point cloud Filter Command Line Tool
6. Run any subsampling options to get to the desire point cloud size / density.
Generate scan_info.txt file – This utility will convert the .yaml file to the easier to read
scan_info.txt file format. This would typically be run if Stencil shutdown unexpectedly due to a
power failure.
rosrun clay_launch generate_scan_info_txt.sh [filename of scan_info.yam] [output
filename]
Fix ply vertex count – This utility is used to repair ply files that have incorrect vertex numbers.
This would typically be run if Stencil shutdown unexpectedly due to a power failure.
rosrun kaarta_io fix_ply_vertex_count [filename of ply file to fix]
Align multiple geo-registered .ply files so they share a common UTM Offset – When files
are individually run through the Loop Closure with GNSS, they have different UTM offsets, so they
all start near (0,0,0). This command adjusts point clouds and trajectories for scans 2 through N so
they are all relative to the UTM offset of scan #1.
rosrun stencil_tools align_utm_offsets.sh
This will bring up dialog box asking for the master scan plus one or more scans to shift so they
match the UTM of the master. This Command Line Tool will apply the appropriate x, y, z offsets
relative to the Master for each scan using the information in the scan_info.yaml file for each .ply file
found in each of the target folders