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fix typo in g2o file format parsing for the information matrix #1310

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Oct 26, 2022
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fix typo in g2o file format parsing for the information matrix #1310

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7499071
fix typo in g2o file format parsing
mauricefallon Oct 22, 2022
3cb73cc
Fix in writeG2o when writing Pose3 measurement
mmattamala Oct 23, 2022
5cbc680
Merge pull request #1 from mmattamala/fix/g2o_parse_error
mauricefallon Oct 23, 2022
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10 changes: 5 additions & 5 deletions gtsam/slam/dataset.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -853,12 +853,12 @@ template <> struct ParseMeasurement<Pose3> {
if (sampler)
T12 = T12.retract(sampler->sample());

// EDGE_SE3:QUAT stores covariance in t,R order, unlike GTSAM:
// EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM:
Matrix6 mgtsam;
mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // cov rotation
mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // cov translation
mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(0, 3); // off diagonal
mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal
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
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I guess there should be a comment here specifying that we need to swap to read the matrix in R,t order?

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Yes, I agree we should be more explicit on our comments to avoid future confusions

mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal swap
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);

return BinaryMeasurement<Pose3>(
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