NAME

       graph-slam - Command-line Graph-SLAM hub application

SYNOPSIS

          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:

          --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.

BUGS

       Please report bugs at http://www.mrpt.org/project/issues/MRPT

AUTHORS

       graph-slam is part of the Mobile Robot Programming Toolkit (MRPT), and was originally
       written by the MAPIR laboratory (University of Malaga).

       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'.