---
name: "graph2tree"
section: "1"
platform: "linux"
package: "octomap-tools"
version: "1.9.7+dfsg-4"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/graph2tree"
---

# graph2tree(1)

insert the data of a scan graph file

## NAME

graph2tree - insert the data of a scan graph file

## SYNOPSIS

**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.