navvis-postprocessing
- 18 Mar 2024
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navvis-postprocessing
- Updated on 18 Mar 2024
- 7 Minutes to read
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Post-processes the specified Recorded datasets.
See also: Post-Processing using SiteMaker
Options
navvis-postprocessing -h
***************************************************************************
Post-processing of NavVis datasets, (c) 2021 NavVis GmbH
***************************************************************************
usage: navvis-postprocessing [options] --proc-base-dir=<output> <input>
Post-processes datasets of NavVis mobile mapping systems.
For more information see the documentation at: https://portal.navvis.com
or if you were unable to resolve your issue contact support@navvis.com
optional arguments:
-h, --help show this help message and exit
Standard arguments:
input List of recorded datasets, i.e. one or multiple dataset directories that should
be processes. May contain wildcards "/my/data/datasets_rec/*" for processing
multiple datasets.
--proc-base-dir /path/to/datasets_proc
Base directory where sub-folders will be created for all output directories.
--start-time START_TIME
Start time from which to begin processing dataset. Either in seconds from the
beginning of the dataset or as an absolute unix timestamp in seconds.
--stop-time STOP_TIME
Stop time until which to process device. Either in seconds from the beginning
of the dataset or as an absolute unix timestamp in seconds.
Other:
--force, -f Force post-processing: Overwrite existing files/directories. (default: False)
--no-auto-transform Disables automatic transformation into the control point coordinate system.
This only has an impact if the option --use-anchors is specified. (default:
False)
--no-terminal-text-color, --no-color
Do not colorize text in terminal. (default: False)
SLAM:
--use-anchors If given will use anchor poses in rec dataset for post-processing if they are
present or use the file given with --anchor-poses (default: False)
--anchor-poses ANCHOR_POSES
If given in addition to --use-anchors, use anchor poses from provided file for
all datasets. File may be in anchor poses txt format or anchor poses csv format
--force-trajectories Forces regeneration of trajectories and anchor artifacts. (default: False)
Point cloud generation:
--res [0.005, 0.01, ... 0.2]
Sets the spatial resolution in [m] of the generated point cloud. (default: 0.01)
--preset {standard,outdoors,high-confidence}
Pointcloud settings which control which regions of the recorded data will
appear in final pointcloud (VLX Only). Standard should give good results in a
wide range of scenarios. Outdoors gives more complete results in areas where
objects were only scanned sparsely and increases maximum range. High-confidence
will reduce the maximum range and keep only well scanned areas. This can be used
to remove unintentionally scanned regions and keep only the most accurately
scanned regions.
--dynamic-objects-filter-mode {disabled,balanced,aggressive}
Desired strength of dynamic object filtering from clouds. (default: balanced)
--max-laser-range MAX_LASER_RANGE
Sets the maximum range in [m] used to generate the point cloud. (default: 30.0)
--force-cloud Force processing of point cloud: Overwrite existing point cloud and also run
coloring of point cloud. (default: False)
--cloud-format {e57,pts,ptx,pcd,xyz,las,ply} [{e57,pts,ptx,pcd,xyz,las,ply} ...]
Sets the desired pointcloud output format(s). Multiple values can be given if
more than one format is desired. (default: ['ply'])
--cloud-mode {sharp-edges, balanced, smooth-surfaces}
Controls the point cloud filtering mode. See
https://docs.navvis.com/mapping/current/en/html/point_clouds/cloud_modes.html#bgk-cloud-mode
for details. (default: sharp-edges)
Point cloud coloring:
--no-color-cloud Do not colorize the point cloud with RGB colors from images. Instead the cloud
will have lidar return intensities on the intensity channel. These are usually
shown as grayscale values in viewing applications. (default: False)
--force-color-cloud Force the coloring of the point cloud: Overwrite an existing cloud. (default:
False)
Panorama Rendering:
--force-pano Force panorama stitching: Overwrite existing files/directories. (default: False)
--no-pano Do not render panoramic images. (default: False)
--mask-pano MASK_PANO
An optional "operator mask" to cut out the operator from the panoramic images.
If omitted, a default "operator mask" is computed internally and applied to the
panoramic images.
See the mapping documentation for how to create an operator mask.
--no-pano-floor-filling
Disable panoramic image floor filling. (default: False)
--num-panos-parallel NUM_PANO_THREADS
Set the number of rendered panoramas in parallel.
Allowed values: [1, 2, 3, ...].
Note: The maximum amount of rendered panoramas in parallel is limited by the
number of available system threads and the available/free system memory (RAM).
If omitted, the number of rendered panoramas in parallel is computed internally,
whereby the default number of parallel rendered panoramas is limited to 8.
(default: None)
Usage examples:
Process a single dataset:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/2014-11-23_14.48.37
Process multiple datasets, one after another:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Process multiple datasets, one after another within a joint coordinate system with SLAM anchors:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/* --use-anchors --anchor-poses=/data/Project/my_anchor_poses.txt
Process a single dataset without panorama stitching:
navvis-postprocessing --no-pano --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/2014-11-23_14.48.37
Force panorama stitching for multiple datasets, overwrite existing data:
navvis-postprocessing --force-pano --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Force point cloud processing and coloring, overwrite existing data:
navvis-postprocessing --force-cloud --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Process multiple datasets and set desired number of panoramic images rendered in parallel:
navvis-postprocessing --num-panos-parallel=4 --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Note: The script will skip all datasets that have been processed already to avoid double computations. Force a re-processing by passing
--force
.
Usage Examples
Process a single Dataset:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/2014-11-23_14.48.37
Process multiple datasets, one after another:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Process multiple datasets, one after another within a joint coordinate system with control points:
navvis-postprocessing --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/* --use-anchors --anchor-poses=/data/Project/my_anchor_poses.txt
Process a single dataset without panorama stitching:
navvis-postprocessing --no-pano --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/2014-11-23_14.48.37
Force panorama stitching for multiple datasets, overwrite existing data:
navvis-postprocessing --force-pano --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Force Point cloud processing and coloring, overwrite existing data:
navvis-postprocessing --force-cloud --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
Process multiple datasets and set the desired number of panoramic images rendered in parallel:
navvis-postprocessing --num-panos-parallel=4 --proc-base-dir=/data/Project/datasets_proc /data/Project/datasets_rec/*
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