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Always turn off hyphenation; it makes .\" way too many mistakes in technical documents. .if n .ad l .nh .SH "NAME" srba\-slam \- A demo program for Relative Bundle Adjustment (RBA) .SH "SYNOPSIS" .IX Header "SYNOPSIS" srba-slam \-\-help .PP srba-slam \-\-list\-problems .PP srba-slam {\-\-se2|\-\-se3} {\-\-lm\-2d|\-\-lm\-3d} \-\-obs [StereoCamera|...] \-d \fI\s-1DATASET\s0.txt\fR [\-\-sensor\-params\-cfg\-file \fI\s-1SENSOR_CONFIG\s0.cfg\fR] [\-\-noise \fI\s-1NOISE_SIGMA\s0\fR] [\-\-verbose {0|1|2|3}] [\-\-step\-by\-step] .SH "COMPLETE LIST OF PARAMETERS" .IX Header "COMPLETE LIST OF PARAMETERS" .Vb 10 \& srba\-slam [\-\-eval\-connectivity] [\-\-eval\-overall\-se3\-error] \& [\-\-eval\-overall\-sqr\-error] [\-\-save\-final\-graph\-landmarks \& ] [\-\-save\-final\-graph ] \& [\-\-debug\-dump\-cur\-spantree] [\-\-video\-fps <>] [\-\-gui\-delay <>] \& [\-\-create\-video ] [\-\-cfg\-file\-rba\-bootstrap \& ] [\-\-cfg\-file\-rba ] [\-\-random\-seed <>] [\-v \& <>] [\-\-submap\-size <20>] [\-\-edge\-policy \& ] [\-\-max\-iters <>] [\-\-max\-lambda \& ] [\-\-max\-optimize\-depth ] \& [\-\-max\-spanning\-tree\-depth ] [\-\-noise\-ang ] \& [\-\-noise ] [\-\-add\-noise] [\-\-profile\-stats\-length \& <>] [\-\-profile\-stats ] [\-\-step\-by\-step] [\-\-no\-gui] \& [\-\-list\-problems] [\-\-sensor\-params\-cfg\-file <>] [\-\-obs <>] \& [\-\-graph\-slam] [\-\-lm\-3d] [\-\-lm\-2d] [\-\-se3] [\-\-se2] \& [\-\-max\-fixed\-feats\-per\-kf <>] [\-\-gt\-path <>] [\-\-gt\-map <>] \& [\-d <>] [\-\-] [\-\-version] [\-h] .Ve .SH "DESCRIPTION" .IX Header "DESCRIPTION" \&\fBsrba-slam\fR is a command-line application for offline processing of robotic/vision datasets. See also the manual online: http://www.mrpt.org/srba .PP .Vb 2 \& \-\-eval\-connectivity \& At end, make stats on the graph connectivity \& \& \-\-eval\-overall\-se3\-error \& At end, evaluate the overall SE3 error for all relative poses \& \& \-\-eval\-overall\-sqr\-error \& At end, evaluate the overall square error for all the observations \& with the final estimated model \& \& \-\-save\-final\-graph\-landmarks \& Save the final graph\-map (all KFs and all Landmarks) to a .dot file \& \& \-\-save\-final\-graph \& Save the final graph\-map of KFs to a .dot file \& \& \-\-debug\-dump\-cur\-spantree \& Dump to files the current spanning tree \& \& \-\-video\-fps <> \& If creating a video, its FPS (Hz). \& \& \-\-gui\-delay <> \& Milliseconds of delay between GUI frames. Default:0. Increase for \& correctly generating videos, etc. \& \& \-\-create\-video \& Creates a video with the animated GUI output (*.avi). \& \& \-\-cfg\-file\-rba\-bootstrap \& Writes an empty config file (*.cfg) for the RBA parameters and exit. \& \& \-\-cfg\-file\-rba \& Config file (*.cfg) for the RBA parameters \& \& \-\-random\-seed <> \& <0: randomize; >=0, use this random seed. \& \& \-v <>, \-\-verbose <> \& 0:quiet, 1:informative, 2:tons of info \& \& \-\-submap\-size <20> \& Number of KFs in each \*(Aqsubmap\*(Aq of the arc\-creation policy. \& \& \-\-edge\-policy \& Policy for edge creation, as textual names of the enum \& TEdgeCreationPolicy \& \& \-\-max\-iters <> \& Max. number of optimization iterations. \& \& \-\-max\-lambda \& Marq\-Lev. optimization: maximum lambda to stop iterating \& \& \-\-max\-optimize\-depth \& Overrides this parameter in config files \& \& \-\-max\-spanning\-tree\-depth \& Overrides this parameter in config files \& \& \-\-noise\-ang \& One sigma of the noise model of every angular component of \& observations, in degrees (default: sensor\-dependant) \& \& If a SRBA config is provided, it will override this value. \& \& \-\-noise \& One sigma of the noise model of every component of observations \& (images,...) or to linear components if they\*(Aqre mixed (default: \& sensor\-dependant) \& \& If a SRBA config is provided, it will override this value. \& \& \-\-add\-noise \& Add AWG noise to the dataset \& \& \-\-profile\-stats\-length <> \& Length in KFs of each saved profiled segment \& \& \-\-profile\-stats \& Generate profile stats to CSV files, with the given prefix \& \& \-\-step\-by\-step \& If showing the gui, go step by step \& \& \-\-no\-gui \& Don\*(Aqt show the live gui \& \& \-\-list\-problems \& List all implemented values for \*(Aq\-\-obs\*(Aq \& \& \-\-sensor\-params\-cfg\-file <> \& Config file from where to load the sensor parameters \& \& \-\-obs <> \& Type of observations in the dataset (use \-\-list\-problems to see \& available types) \& \& \-\-graph\-slam \& Define a relative graph\-slam problem (no landmarks) \& \& \-\-lm\-3d \& Relative landmarks are Euclidean 3D points \& \& \-\-lm\-2d \& Relative landmarks are Euclidean 2D points \& \& \-\-se3 \& Relative poses are SE(3) \& \& \-\-se2 \& Relative poses are SE(2) \& \& \-\-max\-fixed\-feats\-per\-kf <> \& Create fixed & known\-location features \& \& \-\-gt\-path <> \& Ground\-truth robot path file (e.g. \*(Aqdataset1_GT_PATH.txt\*(Aq, etc.) \& \& \-\-gt\-map <> \& Ground\-truth landmark map file (e.g. \*(Aqdataset1_GT_MAP.txt\*(Aq, etc.) \& \& \-d <>, \-\-dataset <> \& Dataset file (e.g. \*(Aqdataset1_SENSOR.txt\*(Aq, etc.) \& \& \-\-, \-\-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. .Ve .SH "BUGS" .IX Header "BUGS" Please report bugs at https://github.com/jlblancoc/mrpt/issues .SH "SEE ALSO" .IX Header "SEE ALSO" The application wiki page at http://www.mrpt.org/Applications .SH "AUTHORS" .IX Header "AUTHORS" \&\fBsrba-slam\fR is part of the Mobile Robot Programming Toolkit (\s-1MRPT\s0). .PP This manual page was written by Jose Luis Blanco . .SH "COPYRIGHT" .IX Header "COPYRIGHT" This program is free software; you can redistribute it and/or modify it under the terms of the \s-1BSD\s0 License. .PP On Debian GNU/Linux systems, the complete text of the \s-1BSD\s0 License can be found in `/usr/share/common\-licenses/BSD'.