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Fix in writeG2o when writing Pose3 measurement #1

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Oct 23, 2022
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Fix in writeG2o when writing Pose3 measurement #1

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11 changes: 6 additions & 5 deletions gtsam/slam/dataset.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -722,11 +722,12 @@ void writeG2o(const NonlinearFactorGraph &graph, const Values &estimate,
<< p.z() << " " << q.x() << " " << q.y() << " " << q.z() << " "
<< q.w();

// g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
Matrix6 InfoG2o = I_6x6;
InfoG2o.block<3, 3>(0, 0) = Info.block<3, 3>(3, 3); // cov translation
InfoG2o.block<3, 3>(3, 3) = Info.block<3, 3>(0, 0); // cov rotation
InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(0, 3); // off diagonal
InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(3, 0); // off diagonal
InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(3, 0); // off diagonal R,t -> t,R
InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(0, 3); // off diagonal t,R -> R,t

for (size_t i = 0; i < 6; i++) {
for (size_t j = i; j < 6; j++) {
Expand Down Expand Up @@ -853,12 +854,12 @@ template <> struct ParseMeasurement<Pose3> {
if (sampler)
T12 = T12.retract(sampler->sample());

// EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM:
// g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
Matrix6 mgtsam;
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
mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal g2o t,R -> GTSAM R,t
mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal g2o R,t -> GTSAM t,R
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);

return BinaryMeasurement<Pose3>(
Expand Down