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>
Go to the source code of this file.
Functions | |
int | main (int argc, char *argv[]) |
Run Shonan Rotation Averaging Algorithm on a file or example dataset.
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.
Definition at line 45 of file ShonanAveragingCLI.cpp.