From 749907180274dda393e92a1b5019f43bcd49819e Mon Sep 17 00:00:00 2001 From: Maurice Fallon Date: Sat, 22 Oct 2022 18:57:41 +0100 Subject: [PATCH] fix typo in g2o file format parsing --- gtsam/slam/dataset.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 71dd64dbb..65bddccee 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -853,12 +853,12 @@ template <> struct ParseMeasurement { if (sampler) T12 = T12.retract(sampler->sample()); - // EDGE_SE3:QUAT stores covariance in t,R order, unlike GTSAM: + // EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM: Matrix6 mgtsam; - mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // cov rotation - mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // cov translation - mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(0, 3); // off diagonal - mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal + mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // info rotation + mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // info translation + mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal swap + mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal swap SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam); return BinaryMeasurement(