graphslam-engine [--disable-visuals] [--list-optimizers]
                 [--list-regs] [--list-edge-regs]
                 [--list-node-regs][-o <CLevMarqGSO>][-e
                 <CICPCriteriaERD>][-n <CICPCriteriaNRD>][-g
                 <contents.rawlog.GT.txt>][-r <contents.rawlog>] [-i
                 <config.ini>] [--][--version] [-h]

