Description
Hello, I have some questions about the testing datasets.
First, for dataset in /data/example_2robots, why are the serial numbers of vertexs in both 0.g2o and 1.g2o not continuous? And how does the optimized results sort the vertexs of two robots?
Second, I have tried to make a two robot dataset as follows:
for 0.g2o:
VERTEX_SE3:QUAT 1 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 2 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 3 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 4 0 0 0 0 0 0 1
EDGE_SE3:QUAT 1 2 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 2 3 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 3 4 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 1 3 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 3 6 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 3 5 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
for 1.g2o:
VERTEX_SE3:QUAT 5 0 0 0 -0.7071067811865475 0.0 0.0 0.7071067811865475
VERTEX_SE3:QUAT 6 0 0 0 -0.7071067811865475 0.0 0.0 0.7071067811865475
VERTEX_SE3:QUAT 7 0 0 0 -0.7071067811865475 0.0 0.0 0.7071067811865475
VERTEX_SE3:QUAT 8 0 0 0 -0.7071067811865475 0.0 0.0 0.7071067811865475
EDGE_SE3:QUAT 5 6 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6 7 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 7 8 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 3 6 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 3 5 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
The output from terminal is
"Graph is disconnected:
Copying initial to optimized"
Looking forward to your reply! Thank you very much!