graph2tree (1)

Insert the data of a scan graph file

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  4. graph2tree: Insert the data of a scan graph file
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  4. graph2tree: Insert the data of a scan graph file

SYNOPSYS

graph2tree [ options ]

DESCRIPTION

graph2tree

These options are available: -i <InputFile.graph> (required) -o <OutputFile.bt> (required) -res <resolution> (optional, default: 0.1 m) -m <maxrange> (optional) -n <max scan no.> (optional) -log (enable a detailed log file with statistics) -compressML (enable maximum-likelihood compression (lossy) after every scan) -simple (simple scan insertion ray by ray instead of optimized) -clamping <p_min> <p_max> (override default sensor model clamping probabilities between 0..1) -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.