NAME

       graph2tree - insert the data of a scan graph file

SYNOPSYS

       graph2tree [ options ]

DESCRIPTION

       graph2tree

       These options are available:

       -i <InputFile.graph> (required)

       -o <OutputFile.bt> (required)

       -res <resolution> (optional, default: 0.1 m)

       -m <maxrange> (optional)

       -n <max scan no.> (optional)

       -log (enable a detailed log file with statistics)

       -compressML (enable maximum-likelihood compression (lossy) after every scan)

       -simple (simple scan insertion ray by ray instead of optimized)

       -clamping  <p_min>  <p_max>  (override default sensor model clamping probabilities between
              0..1)

       -sensor <p_miss> <p_hit> (override default sensor model hit and miss probabilities between
              0..1)

       This  tool is part of OctoMap and inserts the data of a scan graph file (point clouds with
       poses) into an octree.  The output is a  compact  maximum-likelihood  binary  octree  file
       (.bt, bonsai tree) and general octree files (.ot) with the full information.

                                          User Commands                             GRAPH2TREE(1)