Functions
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>
Include dependency graph for ShonanAveragingCLI.cpp:

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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.



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autogenerated on Tue Jul 4 2023 02:40:54