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uoip / g2opy

Python binding of SLAM graph optimization framework g2o
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Pose Graph Optimization #23

Open phildue opened 5 years ago

phildue commented 5 years ago

Hi, first of all thanks for providing the python bindings. I'm trying to implement a Pose Graph Optimization based on some C++ code where they use the edge: EdgeSE3ProjectXYZOnlyPose(). In this example they use the Xw property of this class to store the 3D locations of the points. These are required to computer the projection error.

In the python bindings I cannot access this property. Is this a bug? Also, I was wondering how you would use this class instead, or how to perform the pose graph optimization.

Thanks

phildue commented 5 years ago

Follow up: If I just set the VertexSBAPoints as fixed, doesnt it perform pose graph optimization then?

medakk commented 5 years ago

@phildue Did you figure out how to access the properties?

I'm working around my issue by adding the properties to the code and recompiling.