Comments (4)
Hi @BIT-TYJ,
All the vertices corresponding to the first robot will be prefixed using 'a' using gtsam.Symbol like gtsam.Symbol('a', 1), gtsam.Symbol('a',2) etc. Similarly the second robot will be prefixed using 'b' like gtsam.Symbol('b', 1), gtsam.Symbol('b',2). Code extracts the robot prefix to know which robot the vertex belongs to. You should use the same format and see if it works.
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@BIT-TYJ, you will have to create a GTSAM graph and write to a g2o file. You can checkout: https://gtsam.org/tutorials/intro.html on how to create GTSAM graph. Look at this example on how to write to g2o file: https://github.com/devbharat/gtsam/blob/master/examples/Pose2SLAMExample_g2o.cpp
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Related Issues (10)
- https://cognitiverobotics.github.io/distributed-mapper/ should redirect to here. HOT 1
- Question about G2O file HOT 4
- Question about ChordalFactor Jacobians HOT 2
- Cannot Find GTSAM Checkout Point HOT 5
- Multiple tests failing HOT 5
- Confusing about the algorithms HOT 6
- error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src) HOT 3
- confusing about test error HOT 2
- Representing Landmarks in g2o HOT 3
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