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Added more description to the toyExample.g2o

release/4.3a0
jingwuOUO 2020-11-30 17:35:43 -05:00
parent 5cb45e7e25
commit a8f4f1eb08
1 changed files with 3 additions and 0 deletions
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gtsam/sfm/tests/testShonanAveraging.cpp
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@ -98,6 +98,9 @@ TEST(ShonanAveraging3, checkSubgraph) {
gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH"); gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH");
ShonanAveraging3::Measurements measurements; ShonanAveraging3::Measurements measurements;
// The toyExample.g2o has 5 vertices, from 0-4
// The edges are: 1-2, 2-3, 3-4, 3-1, 1-4, 0-1,
// which can build a connected graph
auto subgraphShonan = fromExampleName("toyExample.g2o", params); auto subgraphShonan = fromExampleName("toyExample.g2o", params);
// Create initial random estimation // Create initial random estimation