dpgo
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mit-acl
Distributed Pose Graph Optimization
@yuluntian in extending `testStiefelProjection`: https://github.com/mit-acl/dpgo/blob/a238090c6427ad509370bd6c302bcac82c1be95f/tests/testUtils.cpp#L28 to cover an increased number of iterations (say `j < 100`): https://github.com/mit-acl/dpgo/blob/a238090c6427ad509370bd6c302bcac82c1be95f/tests/testUtils.cpp#L32 `testRobustSinglePoseAveraging` fails with the following error: ```bash /home/alex/catkin_ws/src/dpgo/tests/testPGO.cpp:120: Failure Expected: ((ROpt - RTrue).norm())
**Issue Addressed:** #3 **Description:** @yuluntian In DPGO's implementation, there is an inherent assumption that only monotonically increasing sets of consecutive pose IDs, starting at index 0, are valid (i.e., {0,1,2,...,N-1}...
**Summary:** In executing `single-robot-example` and `multi-robot-example` on datasets in `dpgo/data/`, a check fails within `DPGO_solver.cpp` and returns ``` F0523 17:45:44.194057 295076 DPGO_solver.cpp:294] Check failed: m.p1 == src *** Check failure...
Thank you for your wonderful work at first. I have also read your paper and tried to find codes related to algorithms in the paper. However, I've tried my best...
Thanks for your sharing at first. I have noticed that maybe there is a bug in the `initialize` function in these [lines](https://github.com/mit-acl/dpgo/blob/a238090c6427ad509370bd6c302bcac82c1be95f/src/PGOAgent.cpp#L266-L273). If `T.n() != num_poses()`, then `initialization_successful` is set...