ShonanAveragingCLI.cpp File Reference

Run Shonan Rotation Averaging Algorithm on a file or example dataset. More...

#include <gtsam/base/timing.h>
#include <gtsam/sfm/ShonanAveraging.h>
#include <gtsam/slam/InitializePose.h>
#include <gtsam/slam/dataset.h>
#include <boost/program_options.hpp>

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Functions
int	main (int argc, char *argv[])

Detailed Description

Run Shonan Rotation Averaging Algorithm on a file or example dataset.

Author

Frank Dellaert

Date

August, 2020

Example usage:

Running without arguments will run on tiny 3D example pose3example-grid ./ShonanAveragingCLI

Read 2D dataset w10000 (in examples/data) and output to w10000-rotations.g2o ./ShonanAveragingCLI -d 2 -n w10000 -o w10000-rotations.g2o

Read 3D dataset sphere25000.txt and output to shonan.g2o (default) ./ShonanAveragingCLI -i spere2500.txt

If you prefer using a robust Huber loss, you can add the option "-h true", for instance ./ShonanAveragingCLI -i spere2500.txt -h true

Definition in file ShonanAveragingCLI.cpp.

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 45 of file ShonanAveragingCLI.cpp.