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metrical [OPTIONS] <COMMAND>

Purpose

  • Global options and errors that apply to all MetriCal commands.

Usage

metrical <COMMAND> [GLOBAL_OPTIONS]

Description

Most commands in MetriCal have their own options and settings. However, there are a few common options that are applicable to all modes. These options can be placed in any command, either before or after the mode you'd like to use.

Options

--license <LICENSE>

The license key for MetriCal.

There are three ways to pass in a license key:

  • Set it via the command line argument --license
  • Set the TANGRAM_PLATFORM_LICENSE environment variable
  • Locate it in the Tangram config TOML, typically located at $HOME/.config/tangram-vision/config.toml

License keys are checked and validated in this order.

--report-path <REPORT_PATH>

MetriCal can actually write the TUI output of any command to an HTML file. The path to save the TUI output to. you can also just redirect stderr, though this will subsume the interactive output

-z, --topic-to-observation-basis <topic_name:observation_basis>

A mapping of topic/folder names to their respective observation coordinate bases.

MetriCal natively computes extrinsics as a transformation between observations. This can sometimes lead to confusion, as extrinsics won't "match" your preferred convention or coordinate system (even though they're valid!).

Providing an observation coordinate basis for a topic will allow MetriCal to modify transformations between components to match the conventions found in your system.

Example: The topic "lidar_1" streams data in FLU [x: forward, y: left, z: up], while the topic "lidar_2" uses FRD. Designate these components as such:

-z lidar_1:FLU -z lidar_2:FRD

One may also use wildcards to designate many topics at a time with the same observation basis:

-z /lidar/*:FLU
-Z, --topic-to-component-basis <topic_name:component_basis>

A mapping of topic/folder names to their respective transform coordinate bases.

MetriCal natively extrinsics as a transformation between observations. This can sometimes lead to confusion, as extrinsics won't "match" your preferred convention or coordinate system (even though they're valid!)

Providing a transform coordinate basis for a topic will allow MetriCal to modify transformations between components to match the conventions found in your system

Example: The topic "lidar_1" streams pointcloud data in FLU [x: forward, y: left, z: up], while the topic "lidar_2" uses FRD. However, we desire coordinate bases to be FRD for both lidar. Designate these components as such

-z lidar_1:FLU -z lidar_2:FRD -Z *lidar*:FR

Exit Codes

For a full list of exit codes, see the Errors + Troubleshooting page.