GRAPH2TREE(1)

🌸 NAME 🌸

graph2tree — insert the data of a scan graph file 💖

✨ SYNOPSIS ✨

graph2tree [ options ]

🦋 DESCRIPTION 🦋

okay so bestie, graph2tree is literally the moment where your scan graph data gets shoved into an octree. no cap. 💅

These options are available:

• -i <InputFile.graph> — the file you're feeding in. this one is required, like fr fr you cannot skip it 🙈
• -o <OutputFile.bt> — where the output goes. also required, bestie, no output file no party 🎀
• -res <resolution> — the resolution. it's optional, and the default is 0.1 m ✨
• -m <maxrange> — the max range. optional 👑
• -n <max scan no.> — the max scan number. optional 🌸
• -log — turns on a detailed log file with statistics. it's giving receipts 📝
• -compressML — enables maximum-likelihood compression (lossy, bestie, lossy!!) after every single scan 💀
• -simple — does the scan insertion simply, ray by ray, instead of the optimized way 🧚
• -clamping <p_min> <p_max> — overrides the default sensor model clamping probabilities, and those live between 0..1 🌈
• -sensor <p_miss> <p_hit> — overrides the default sensor model hit and miss probabilities, also between 0..1 ⭐

This tool is part of OctoMap 💜 and it inserts the data of a scan graph file (that's point clouds with poses, iykyk) into an octree. the output is a compact maximum-likelihood binary octree file (.bt, the bonsai tree, iconic name honestly 🎀) and general octree files (.ot) with the full information 🔥

heads up bestie: -compressML is lossy. maximum-likelihood compression does not keep everything, so vibe check your data before you commit to it 💅

so yeah, that's the whole thing. this page came from the General Commands Manual, it's GRAPH2TREE(1) living its best life in the User Commands corner of section 1, and it's literally all about OctoMap 🦋✨ slay, go build your bonsai tree 💖