graph2tree(1)
insert the data of a scan graph file
Description
GRAPH2TREE
NAME
graph2tree - insert the data of a scan graph file
SYNOPSIS
graph2tree [ options ]
DESCRIPTION
graph2tree
These options are available:
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-i <InputFile.graph> (required) | |
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-o <OutputFile.bt> (required) | |
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-res <resolution> (optional, default: 0.1 m) | |
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-m <maxrange> (optional) | |
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-n <max scan no.> (optional) | |
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-log (enable a detailed log file with statistics) | |
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-compressML (enable maximum-likelihood compression (lossy) after every scan) | |
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-simple (simple scan insertion ray by ray instead of optimized) | |
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-clamping <p_min> <p_max> (override default sensor model clamping probabilities between 0..1) | |
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-sensor <p_miss> <p_hit> (override default sensor model hit and miss probabilities between 0..1) |
This tool is part of OctoMap and inserts the data of a scan graph file (point clouds with poses) into an octree. The output is a compact maximum-likelihood binary octree file (.bt, bonsai tree) and general octree files (.ot) with the full information.