Application: srba-slam (Relative Bundle Adjustment and Relative Graph-SLAM)
See also: main SRBA documentation page
SRBA-SLAM
Section: Mobile Robot Programming Toolkit – MRPT (1)
NAME
srba-slam – A demo program for Relative Bundle Adjustment (RBA)
SYNOPSIS
srba-slam –help
srba-slam –list-problems
srba-slam {–se2|–se3} {–lm-2d|–lm-3d} –obs [StereoCamera|…] -d DATASET.txt [–sensor-params-cfg-file SENSOR_CONFIG.cfg] [–noise NOISE_SIGMA] [–verbose {0|1|2|3}] [–step-by-step]
COMPLETE LIST OF PARAMETERS
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srba-slam [--eval-connectivity] [--eval-overall-se3-error] [--eval-overall-sqr-error] [--save-final-graph-landmarks <final-map.dot>] [--save-final-graph <final-map.dot>] [--debug-dump-cur-spantree] [--video-fps <>] [--gui-delay <>] [--create-video <out.avi>] [--cfg-file-rba-bootstrap <rba.cfg>] [--cfg-file-rba <rba.cfg>] [--random-seed <>] [-v <>] [--submap-size <20>] [--edge-policy <ecpICRA2013>] [--max-iters <>] [--max-lambda <depth>] [--max-optimize-depth <depth>] [--max-spanning-tree-depth <depth>] [--noise-ang <noise_std>] [--noise <noise_std>] [--add-noise] [--profile-stats-length <>] [--profile-stats <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] |
DESCRIPTION
srba-slam is a command-line application for offline processing of robotic/vision datasets. See also the manual online: http://www.mrpt.org/srba
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--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 <final-map.dot> Save the final graph-map (all KFs and all Landmarks) to a .dot file --save-final-graph <final-map.dot> 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 <out.avi> Creates a video with the animated GUI output (*.avi). --cfg-file-rba-bootstrap <rba.cfg> Writes an empty config file (*.cfg) for the RBA parameters and exit. --cfg-file-rba <rba.cfg> 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 'submap' of the arc-creation policy. --edge-policy <ecpICRA2013> Policy for edge creation, as textual names of the enum TEdgeCreationPolicy --max-iters <> Max. number of optimization iterations. --max-lambda <depth> Marq-Lev. optimization: maximum lambda to stop iterating --max-optimize-depth <depth> Overrides this parameter in config files --max-spanning-tree-depth <depth> Overrides this parameter in config files --noise-ang <noise_std> 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 <noise_std> One sigma of the noise model of every component of observations (images,...) or to linear components if they're 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 <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't show the live gui --list-problems List all implemented values for '--obs' --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. 'dataset1_GT_PATH.txt', etc.) --gt-map <> Ground-truth landmark map file (e.g. 'dataset1_GT_MAP.txt', etc.) -d <>, --dataset <> Dataset file (e.g. 'dataset1_SENSOR.txt', 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. |
BUGS
Please report bugs at http://www.mrpt.org/project/issues/MRPT
SEE ALSO
The application wiki page at http://www.mrpt.org/Applications
AUTHORS
srba-slam is part of the Mobile Robot Programming Toolkit (MRPT).
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’.