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

          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

          --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'.