Application: graph-slam
NAME
graph-slam – Command-line Graph-SLAM hub application
SYNOPSIS
1 2 3 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] |
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:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 |
--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. |
Usage examples/videos
graph-slam demo: Loading a raw graph file vs. its Dijkstra tree global estimation:
(also on YouTube)