Application: graphslam-engine
Description
graphslam-engine constructs and optimizes robot pose-graphs from rawlog datasets. This app performs 2D graph-slam: the robot localizes itself in the environment while, at the same time, builds a map of that environment consisting of robot poses and links (relative poses). The MRPT rawlog files should contain (some of) the following observation types:
- CObservationOdometry
- CObservation2DRangeScan
- CObservation3DRangeScan
Currently working with 3DRangeScan is currently in an experimental phase.
An example of using the graphslam-engine application is given below:
Command line options
The available command line arguments are listed below. Alternatively run graphslam-engine -h for the full arguments list.
graphslam-engine [--disable-visuals] [--list-optimizers]
[--list-regs] [--list-edge-regs]
[--list-node-regs][-o ][-e
][-n ][-g
<contents.rawlog.GT.txt>][-r <contents.rawlog>] [-i
] [--][--version] [-h]
--disable-visuals
Disable Visualization - Overrides related visualize* directives of the
.ini file
--list-optimizers
List (all) available graphslam optimizer classes
--list-regs
List (all) available registration decider classes
--list-edge-regs
List available edge registration decider classes
--list-node-regs
List available node registration decider classes
-o <CLevMarqGSO>, --optimizer <CLevMarqGSO>
Specify GraphSlam Optimizer
-e <CICPCriteriaERD>, --edge-reg <CICPCriteriaERD>
Specify Edge registration decider
-n <CICPCriteriaNRD>, --node-reg <CICPCriteriaNRD>
Specify Node registration decider
-g <contents.rawlog.GT.txt>, --ground-truth <contents.rawlog.GT.txt>
Ground-truth textfile
-r <contents.rawlog>, --rawlog <contents.rawlog>
Rawlog dataset file
-i <config.ini>, --ini_file <config.ini>
.ini configuration file
--, --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.