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

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>.

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

       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'.

perl v5.34.0                                       2022-02-05                                      GRAPH-SLAM(1)

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.

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

          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]

ViewDijkstra-basedspanningtreecoordinatesestimationofa2Dgraphfile

       graph-slam --2d --dijkstra --view -i in.graphVisualizationofa2D(or3D)graphfile

       graph-slam --2d [or --3d] --view -i in.graphLevenberg-Marquartdoptimizationofa3Dgraphandvisualizeresult

       graph-slam --3d --levmarq --view -i in.graph