diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp index cf35a42cf..172166116 100644 --- a/gtsam/sfm/tests/testShonanAveraging.cpp +++ b/gtsam/sfm/tests/testShonanAveraging.cpp @@ -98,6 +98,9 @@ TEST(ShonanAveraging3, checkSubgraph) { gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH"); ShonanAveraging3::Measurements measurements; + // The toyExample.g2o has 5 vertices, from 0-4 + // The edges are: 1-2, 2-3, 3-4, 3-1, 1-4, 0-1, + // which can build a connected graph auto subgraphShonan = fromExampleName("toyExample.g2o", params); // Create initial random estimation