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graph-slam - Command-line Graph-SLAM hub application


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]


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


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:

Op: Loads the graph and displays statistics and information on it.

Op: Executes CNetworkOfPoses::dijkstra_nodes_estimate() to estimate
the global pose of nodes from a Dijkstra tree and the edge relative

Can be used together with: --view, --output

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,

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

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.

Use 3D poses (Must use exactly one of --2d and --3d)

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.

Displays version information and exits.

-h, --help
Displays usage information and exits.

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