1GRAPH-SLAM(1)       Mobile Robot Programming Toolkit - MRPT      GRAPH-SLAM(1)
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NAME

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

9          graph-slam  [--info] [--dijkstra] [--levmarq] [--no-span]
10                      [--initial-lambda <val>] [--max-iters <N>] [-q] [--view]
11                      [--3d] [--2d] [-o <result.graph>] -i <test.graph> [--]
12                      [--version] [-h]
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USAGE EXAMPLES

15       View Dijkstra-based spanning tree coordinates estimation of a 2D graph
16       file
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18       graph-slam --2d --dijkstra --view -i in.graph
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20       Visualization of a 2D (or 3D) graph file
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22       graph-slam --2d [or --3d] --view -i in.graph
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24       Levenberg-Marquartd optimization of a 3D graph and visualize result
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26       graph-slam --3d --levmarq --view -i in.graph
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DESCRIPTION

29       graph-slam is a command-line application to visualize pose constraint
30       graphs and execute Graph-SLAM methods on them.
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32       These are the supported arguments and operations:
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34          --info
35            Op: Loads the graph and displays statistics and information on it.
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38          --dijkstra
39            Op: Executes CNetworkOfPoses::dijkstra_nodes_estimate() to estimate
40            the global pose of nodes from a Dijkstra tree and the edge relative
41            poses.
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43            Can be used together with: --view, --output
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45          --levmarq
46            Op: Optimizes the graph with sparse Levenberg-Marquartd using global
47            coordinates (via mrpt::graphslam::optimize_graph_spa_levmarq).
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49            Can be used together with: --view, --output, --max-iters, --no-span,
50            --initial-lambda
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52          --no-span
53            Don't use dijkstra initial spanning tree guess (optional)
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55          --initial-lambda <val>
56            Initial lambda parameter (optional, lev-marq)
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58          --max-iters <N>
59            Maximum number of iterations (optional)
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61          -q,  --quiet
62            Terse output
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64          --view
65            Op: Visualize the graph in a 3D view. If used alone, represent VERTEX2
66            or VERTEX3 poses directly as stored in the input file. If used
67            together with another operation, the final obtained graph after the
68            operation will be shown, not the input original one.
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71          --3d
72            Use 3D poses (Must use exactly one of --2d and --3d)
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74          --2d
75            Use 2D poses (Must use exactly one of --2d and --3d)
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77          -o <result.graph>,  --output <result.graph>
78            Output file (optional) (*.graph,*.graphbin)
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80          -i <test.graph>,  --input <test.graph>
81            (required)  Input file (required) (*.graph,*.graphbin)
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83          --,  --ignore_rest
84            Ignores the rest of the labeled arguments following this flag.
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86          --version
87            Displays version information and exits.
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89          -h,  --help
90            Displays usage information and exits.
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BUGS

93       Please report bugs at https://github.com/MRPT/mrpt/issues
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AUTHORS

96       graph-slam is part of the Mobile Robot Programming Toolkit (MRPT), and
97       was originally written by the MAPIR laboratory (University of Malaga).
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99       This manual page was written by Jose Luis Blanco
100       <joseluisblancoc@gmail.com>.
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103       This program is free software; you can redistribute it and/or modify it
104       under the terms of the BSD License.
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106       On Debian GNU/Linux systems, the complete text of the BSD License can
107       be found in `/usr/share/common-licenses/BSD'.
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111perl v5.34.0                      2021-08-20                     GRAPH-SLAM(1)
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