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]

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 &lt;CLevMarqGSO&gt;, --optimizer &lt;CLevMarqGSO&gt;
     Specify GraphSlam Optimizer

   -e &lt;CICPCriteriaERD&gt;,  --edge-reg &lt;CICPCriteriaERD&gt;
     Specify Edge registration decider

   -n &lt;CICPCriteriaNRD&gt;,  --node-reg &lt;CICPCriteriaNRD&gt;
     Specify Node registration decider

   -g &lt;contents.rawlog.GT.txt&gt;,  --ground-truth &lt;contents.rawlog.GT.txt&gt;
     Ground-truth textfile

   -r &lt;contents.rawlog&gt;,  --rawlog &lt;contents.rawlog&gt;
     Rawlog dataset file

   -i &lt;config.ini&gt;,  --ini_file &lt;config.ini&gt;
     .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.

--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.

Tag: SLAM

Application: graphslam-engine

Description

Command line options