TMD Library: TrueMap Data Processing & Visualization

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A Python library and CLI for TrueMap v6 and GelSight TMD height maps: I/O, processing, visualization, map export, and 3D mesh generation.

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Table of contents

• Features
• Installation
• Usage
• CLI command reference
• TMD file format
• Sample data
• Visual examples
• GelSight sequence visualization
• Contributing
• License

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Features

Feature	Description
Rich visualizations	3D surfaces, 2D heatmaps, profiles (matplotlib, plotly, seaborn, optional Polyscope)
Export	Displacement/normal maps, STL/OBJ/PLY/glTF/USD meshes, NumPy-friendly workflows
Formats	TrueMap v6-style TMD (v2) and legacy v1; GelSight-compatible layouts
Python	3.8+ (see requires-python in pyproject.toml)

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Installation

From PyPI:

pip install truemapdata

From a git checkout:

pip install -r requirements.txt
pip install -e .

The console entry point is tmd-process. From the repository you can also run python tmd_cli.py.

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Usage

from tmd import TMD

data = TMD.load("path/to/your/file.tmd")
height_map = data.height_map
metadata = data.metadata

Use a real .tmd from your instrument or pipeline; no sample .tmd files are committed to this repository (size, licensing). You can generate synthetic terrain for tests via TMDTerrain / the terrain CLI.

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CLI command reference

Console entry point: tmd-process (or python tmd_cli.py from a checkout). Global help: tmd-process --help. Embedded CLI examples (markdown): tmd-process visualize examples.

Full documentation: GitHub Pages (same URL as pyproject.toml [project.urls] Documentation).

Top-level commands

Command	Feature	Example
info	Inspect one .tmd (metadata, optional height sample)	tmd-process info path/to/file.tmd
version	Print CLI and core __version__	tmd-process version
check	Verify optional dependencies / environment	tmd-process check
maps	Export image maps (normal, height, AO, …)	tmd-process maps list
mesh	Height field → STL / OBJ / PLY / glTF / USD	tmd-process mesh formats
visualize	2D/3D plots, profiles, Polyscope, backends	tmd-process visualize basic path/to/file.tmd
sequence	Align frames and export maps/meshes from a run	tmd-process sequence align a.tmd b.tmd c.tmd -o ./aligned
roughness	ISO 25178 areal roughness (needs Surfalize)	tmd-process roughness file path/to/file.tmd --quick
terrain	Synthetic heightmaps and texture exports	tmd-process terrain generate perlin --width 512 --height 512 -o ./synthetic
compress	Downsample / quantize / combined / batch TMDs	tmd-process compress downsample path/to/file.tmd --scale 0.5
cache	Inspect or clear visualization cache	tmd-process cache info
config	Show or change CLI-related settings	tmd-process config show

maps subcommands

Subcommand	Feature	Example
list	List supported map type names	tmd-process maps list
batch	Export many .tmd files from a directory	tmd-process maps batch ./data -o ./textures --pattern "*.tmd"
all	Export the default map set for one file	tmd-process maps all path/to/file.tmd -o ./maps_out
height	Grayscale height map PNG	tmd-process maps height path/to/file.tmd --output-file height.png
normal	Tangent-space normal map	tmd-process maps normal path/to/file.tmd -o normal.png
ao	Ambient occlusion map	tmd-process maps ao path/to/file.tmd -o ao.png
bump	Bump / relief map	tmd-process maps bump path/to/file.tmd -o bump.png
hillshade	Hillshade rendering	tmd-process maps hillshade path/to/file.tmd --output-file hill.png
curvature	Curvature visualization	tmd-process maps curvature path/to/file.tmd --output-file curv.png
displacement	Displacement map	tmd-process maps displacement path/to/file.tmd --output-file disp.png

Use tmd-process maps --help for every map type (roughness, metallic, parallax_ao, angle, depth, synthetic, …).

mesh subcommands

Subcommand	Feature	Example
formats	List registered mesh exporters	tmd-process mesh formats
generate	Unified mesh export (--format, --method, --quality)	tmd-process mesh generate path/to/file.tmd --format stl --method adaptive --quality high
stl / obj / ply / gltf / usd	Shorthand export to one format	tmd-process mesh stl path/to/file.tmd --quality high
batch	Mesh many files from a directory	tmd-process mesh batch ./data --output-dir ./meshes --pattern "*.tmd"

Mesh generation notes:

• adaptive — error-driven refinement; lower error_threshold and higher max_triangles yield finer meshes.
• quadtree — hierarchical grid refinement; max_subdivisions caps depth. The Python API also exposes detail_boost on ExportConfig.

Other useful visualize / sequence commands

Command	Feature	Example
visualize 3d	3D surface (matplotlib / plotly / …)	tmd-process visualize 3d path/to/file.tmd -o surf.html
visualize profile	Row or column height profile	tmd-process visualize profile path/to/file.tmd
visualize backends	Which backends are installed	tmd-process visualize backends
sequence export	After sequence align, export maps + meshes for *_aligned.tmd	tmd-process sequence export ./aligned_out
roughness batch	CSV / stdout roughness over a folder	tmd-process roughness batch ./tmds --pattern "*.tmd"
compress quantize	Reduce unique height levels	tmd-process compress quantize path/to/file.tmd
cache clear	Drop cached visualization artifacts	tmd-process cache clear
config set	Persist a config key	tmd-process config set --help

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TMD file format

TrueMap v6 (v2 layout)

Field	Description
Header (32 bytes)	ASCII prefix, e.g. Binary TrueMap Data File v2.0 (null-padded)
Comment (24 bytes in reader path)	ASCII comment / padding
Dimensions (8 bytes)	Little-endian uint32 width, height
Spatial info (16 bytes)	float32 x_length, y_length, x_offset, y_offset
Height data	float32 row-major block, logical shape (height, width)

GelSight

Same overall binary layout as v2; comments and naming may differ. The reader uses header cues and metadata to interpret the grid.

Legacy v1

Shorter header (28-byte offset to dimensions), then width, height, x_length, y_length (two floats only), then height samples.

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Sample data

Examples in docs and tests use paths like path/to/file.tmd or synthetic heightmaps. Committing large proprietary .tmd fixtures is avoided; use your own captures or published attachments.

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Visual examples

Height map statistics (illustrative)

Metric	Value
Shape	(200, 200)
Min	0.0
Max	1.0
Mean	0.41206
Std Dev	0.18863

Image gallery

3D surface	X profile

Displacement	Y profile

STL	3D crop

Plotly	HeightMap

Bump maps	Smoothing

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GelSight sequence visualization

python visualize_gelsight_sequence.py --show
python visualize_gelsight_sequence.py --files path/to/a.tmd path/to/b.tmd --format 3d --z-scale 1.5 2.0 --show

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Contributing

See CONTRIBUTING.md for local setup, tests, Ruff, docs, and how to use the GitHub issue and PR templates. Report security issues privately as described in SECURITY.md. For a reproducible editor environment, use the Dev Container definition in .devcontainer/devcontainer.json.

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License

This project is licensed under the MIT License. See the LICENSE file for details.