NAME¶
graph-slam - Command-line Graph-SLAM hub application
SYNOPSIS¶
graph-slam [--info] [--dijkstra] [--levmarq] [--no-span]
[--initial-lambda <val>] [--max-iters <N>] [-q] [--view]
[--3d] [--2d] [-o <result.graph>] -i <test.graph> [--]
[--version] [-h]
USAGE EXAMPLES¶
View Dijkstra-based spanning tree coordinates estimation of a 2D graph
file
graph-slam --2d --dijkstra --view -i
in.graph
Visualization of a 2D (or 3D) graph file
graph-slam --2d [or --3d] --view -i
in.graph
Levenberg-Marquartd optimization of a 3D graph and visualize result
graph-slam --3d --levmarq --view -i
in.graph
DESCRIPTION¶
graph-slam is a command-line application to visualize pose constraint
graphs and execute Graph-SLAM methods on them.
These are the supported arguments and operations:
--info
Op: Loads the graph and displays statistics and information on it.
--dijkstra
Op: Executes CNetworkOfPoses::dijkstra_nodes_estimate() to estimate
the global pose of nodes from a Dijkstra tree and the edge relative
poses.
Can be used together with: --view, --output
--levmarq
Op: Optimizes the graph with sparse Levenberg-Marquartd using global
coordinates (via mrpt::graphslam::optimize_graph_spa_levmarq).
Can be used together with: --view, --output, --max-iters, --no-span,
--initial-lambda
--no-span
Don't use dijkstra initial spanning tree guess (optional)
--initial-lambda <val>
Initial lambda parameter (optional, lev-marq)
--max-iters <N>
Maximum number of iterations (optional)
-q, --quiet
Terse output
--view
Op: Visualize the graph in a 3D view. If used alone, represent VERTEX2
or VERTEX3 poses directly as stored in the input file. If used
together with another operation, the final obtained graph after the
operation will be shown, not the input original one.
--3d
Use 3D poses (Must use exactly one of --2d and --3d)
--2d
Use 2D poses (Must use exactly one of --2d and --3d)
-o <result.graph>, --output <result.graph>
Output file (optional) (*.graph,*.graphbin)
-i <test.graph>, --input <test.graph>
(required) Input file (required) (*.graph,*.graphbin)
--, --ignore_rest
Ignores the rest of the labeled arguments following this flag.
--version
Displays version information and exits.
-h, --help
Displays usage information and exits.
BUGS¶
Please report bugs at
https://github.com/jlblancoc/mrpt/issues
AUTHORS¶
graph-slam is part of the Mobile Robot Programming Toolkit (MRPT), and
was originally written by the MAPIR laboratory (University of Malaga).
This manual page was written by Jose Luis Blanco
<joseluisblancoc@gmail.com>.
COPYRIGHT¶
This program is free software; you can redistribute it and/or modify it under
the terms of the BSD License.
On Debian GNU/Linux systems, the complete text of the BSD License can be found
in `/usr/share/common-licenses/BSD'.