From a8f4f1eb08b917a6ef30c007980119138b2f7ba4 Mon Sep 17 00:00:00 2001 From: jingwuOUO Date: Mon, 30 Nov 2020 17:35:43 -0500 Subject: [PATCH] Added more description to the toyExample.g2o --- gtsam/sfm/tests/testShonanAveraging.cpp | 3 +++ 1 file changed, 3 insertions(+) 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