xipengwang/aprilsam

SLAM optimization algorithm

aprilsam's Issues

what's the storage format of covariance in M3500.txt

like g2o format data ,covariance matrix merely storage its upper triangular in order to save space.note the real number as symbol a,therefore,the storage format is a 00000 a 0000 a 000 a 00 a(illustrate as SE(3));
while your data such as :a 0 a a 0 0,the covariance matrix should be a diagonal matrix,right? I can't see the covariance element storage order.

6 dof pose data, does it work?

when i look over the source code ,i found it works for 3dof pose data,such as 'xyt'. However, does it work for 6 dof pose data? thanks.

How to view the graph format file

I am confused about the M3500.graph file of graph format in the folder of dataset,how can i view this kind of file.