MetriCal Command: Plex Focus

Usage

Plex Focus - CLI Example

metrical plex focus [OPTIONS] <IDENTIFIER> [PLEX_OR_RESULTS_PATH]

Plex Focus - Manifest Example

command = "plex-focus"
input-plex = "input.json"
identifier = "/imu"
output-plex = "{{auto}}"

Purpose

metrical plex focus converts a Plex into a "hub-and-spoke" Plex, where every component is spatially connected directly to a single chosen "focus" component. MetriCal composes two or more existing spatial constraints to find the optimal path between each component and the focus, using the covariance of each spatial constraint as a measure of certainty.

This is the Plex-level equivalent of metrical shape focus, which operates on calibration results. Use metrical plex focus when you want to rearrange the constraint graph of a raw Plex before calibration; use metrical shape focus when working with post-calibration results.

Examples

Focus a Plex around an IMU

metrical plex focus /imu input.json -o output.json

Focus using stdin/stdout

metrical plex focus /camera/left < input.json > output.json

Arguments

IDENTIFIER

The component to use as the focus (hub) of the resulting Plex. Accepts a topic name or UUID.

[PLEX_OR_RESULTS_PATH]

The path to the input Plex. If omitted, MetriCal will read the Plex from stdin.

Options

Global Arguments

As with every command, all global arguments are supported (though not all may be used).

-o, --output [OUTPUT]

The path to output the resulting Plex. If omitted, MetriCal will write the Plex to stdout.