Purpose

Exwayz Map Cleaner aims at classifying each LiDAR frame written by exwayz_slam.exe in a 3-classes classification

<aside> 💡 Check the Classify points scanned on mobile objects tutorial to learn easily how to clean your maps.

</aside>

Command line options

Name	Command line prefix	Default value	Definition
Frame directory	`--ply`	Required	Path to directory containing the PLY frames
Trajectory	`-t`	Required	Path to the trajectory used to detect discrepancies between LiDAR frames. This trajectory can be a `traj_odometry.ply` output by exwayz_slam.exe for instance
Profile	`-p`	default	Name of the profile to use. Check ‣ and ‣ for more information
Begin index	`--begin`	-	If set, the processing will only start at the frame index specified in the option (taken from the frame’s name)
End index	`--end`	-	If set, the processing will end at the frame index specified in the option (taken from the frame’s name)
Disable the ground classification step	`--disable-ground-classif`	-	If set, the first ground classification step will be skipped. This can be useful for instance if the frames were already ground-classified using ‣.
Disable the writing of the classified frames	`--no-write`	-	If set, the classified frames will not be written (useful when tuning the parameters)
Allows the writing of classified frames in a separate folder	`--no-overwrite`	-	If set, a `frames_classified` folder will be created near the input frame directory to write the classified frames
Disable 3D viewer	`--no-vis`	-	If set, the 3D viewer will not be started during the processing
Help	`-h`	-	Display the help.

`frame_xxxxxx.ply`	Classified frame with the `classid` field overwritten by the executable.

The class IDs are described below