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.

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