hogman3d.cpp File Reference

#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

Enumerator:

OPT_CHOL
OPT_HCHOL

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.