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.IX Title "GRAPH-SLAM 1"
.TH GRAPH-SLAM 1 2024-03-20 "perl v5.38.2" "Mobile\ Robot\ Programming\ Toolkit\ -\ MRPT"
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.SH NAME
graph\-slam \- Command\-line Graph\-SLAM hub application
.SH SYNOPSIS
.IX Header "SYNOPSIS"
.Vb 4
\&   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]
.Ve
.SH "USAGE EXAMPLES"
.IX Header "USAGE EXAMPLES"
\&\fBView Dijkstra-based spanning tree coordinates estimation of a 2D graph file\fR
.PP
graph-slam \-\-2d \-\-dijkstra \-\-view \-i \fIin.graph\fR
.PP
\&\fBVisualization of a 2D (or 3D) graph file\fR
.PP
graph-slam \-\-2d [or \-\-3d] \-\-view \-i \fIin.graph\fR
.PP
\&\fBLevenberg-Marquartd optimization of a 3D graph and visualize result\fR
.PP
graph-slam \-\-3d \-\-levmarq \-\-view \-i \fIin.graph\fR
.SH DESCRIPTION
.IX Header "DESCRIPTION"
\&\fBgraph-slam\fR is a command-line application to visualize pose constraint graphs
and execute Graph-SLAM methods on them.
.PP
These are the supported arguments and operations:
.PP
.Vb 2
\&   \-\-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\*(Aqt 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.
.Ve
.SH BUGS
.IX Header "BUGS"
Please report bugs at https://github.com/MRPT/mrpt/issues
.SH AUTHORS
.IX Header "AUTHORS"
\&\fBgraph-slam\fR is part of the Mobile Robot Programming Toolkit (MRPT), and 
was originally written by the MAPIR laboratory (University of Malaga).
.PP
This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.
.SH COPYRIGHT
.IX Header "COPYRIGHT"
This program is free software; you can redistribute it and/or modify it
under the terms of the BSD License.
.PP
On Debian GNU/Linux systems, the complete text of the BSD License can be 
found in `/usr/share/common\-licenses/BSD'.