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uoip / g2opy

Python binding of SLAM graph optimization framework g2o
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Usage #61

Open ailiwei17 opened 2 years ago

ailiwei17 commented 2 years ago

If I have pose and essential matrix, how can I use g2opy like example Pose Graph Optimization?

def add_vertex(self, id, pose, fixed=False):
def add_edge(self, vertices, measurement,
            information=np.identity(6),
            robust_kernel=None):

vertices = essential matrix? What does measurement mean？