Fix in writeG2o when writing Pose3 measurement
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7499071802
commit
3cb73ccf35
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@ -722,11 +722,12 @@ void writeG2o(const NonlinearFactorGraph &graph, const Values &estimate,
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<< p.z() << " " << q.x() << " " << q.y() << " " << q.z() << " "
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<< q.w();
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// g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
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Matrix6 InfoG2o = I_6x6;
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InfoG2o.block<3, 3>(0, 0) = Info.block<3, 3>(3, 3); // cov translation
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InfoG2o.block<3, 3>(3, 3) = Info.block<3, 3>(0, 0); // cov rotation
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InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(0, 3); // off diagonal
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InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(3, 0); // off diagonal
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InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(3, 0); // off diagonal R,t -> t,R
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InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(0, 3); // off diagonal t,R -> R,t
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for (size_t i = 0; i < 6; i++) {
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for (size_t j = i; j < 6; j++) {
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@ -853,12 +854,12 @@ template <> struct ParseMeasurement<Pose3> {
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if (sampler)
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T12 = T12.retract(sampler->sample());
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// EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM:
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// g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
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Matrix6 mgtsam;
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mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // info rotation
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mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // info translation
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mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal swap
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mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal swap
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mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal g2o t,R -> GTSAM R,t
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mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal g2o R,t -> GTSAM t,R
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SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
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return BinaryMeasurement<Pose3>(
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