#include <iostream>#include <string>#include <algorithm>#include <iomanip>#include <sys/time.h>#include "hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_chol.h"#include "hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_hchol.h"#include "hogman_minimal/graph/loadEdges3d.h"#include "hogman_minimal/stuff/filesys_tools.h"#include "hogman_minimal/stuff/string_tools.h"#include "hogman_minimal/stuff/macros.h"#include "hogman_minimal/stuff/color_macros.h"
Include dependency graph for hogman3d.cpp:
Go to the source code of this file.
Enumerations | |
| enum | OptimizerType { OPT_CHOL, OPT_HCHOL } |
Functions | |
| int | main (int argc, char **argv) |
| static string | optimizer2string (int optimizer) |
| void | printBanner () |
Variables | |
| static const char * | banner [] |
Enumeration Type Documentation
| enum OptimizerType |
Definition at line 67 of file hogman3d.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 84 of file hogman3d.cpp.
| static string optimizer2string | ( | int | optimizer | ) | [static] |
Definition at line 71 of file hogman3d.cpp.
| void printBanner | ( | ) |
Definition at line 59 of file hogman3d.cpp.
Variable Documentation
const char* banner[] [static] |
Initial value:
{
"*******************************************************************",
"* HOG-Man v 0.1 *",
"* (c) Giorgio Grisetti, Rainer Kuemmerle, *",
"* Cyrill Stachniss *",
"*******************************************************************",
"",
"usage: hogman3d [options] <graph_file>",
"",
"options:",
" -hogman | -chol selects the optimization strategy",
" between",
" HOG-Man (default)",
" cholesky",
" -i <int> sets the maximum number of iterations (default 10)",
" -batch if toggled, the file is processed in offline mode",
" -v enables the verbose mode of the optimizer",
" -guiout dumps the output to be piped into graph_viewer",
" -guess perform initial guess (batch mode)",
" -o <filename> writes in <filename> the optimized graph",
" -oc overwrite the covariances with the identity",
" -h this help",
0
}
Definition at line 34 of file hogman3d.cpp.