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remap_id.py
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from g2o_tool import G2oTool
g2o_file_name = '/home/jiangpin/dataset/simulation/example_4robots/fullGraph_optimized.g2o'
g2o_file_name = '/home/jiangpin/dataset/3dog/fullGraph_optimized.g2o'
g2o_file_name = '/home/jiangpin/dataset/2yuan/readFullGraph.g2o'
g2o_file_name = '/home/jiangpin/graph/graph/readFullGraph.g2o'
g2o_file_name = '/home/jiangpin/graph/graph/fullGraph.g2o'
g2o_file_name = '/home/jiangpin/graph/0221/graph/readFullGraph.g2o'
g2o_file_name = '/home/jiangpin/dataset/graph/readFullGraph.g2o'
g2o_file_name = '/home/nuc/github/lusha/Multi-robot-SLAM/MR_SLAM/Mapping/src/global_manager/log/optimized.g2o'
g2o_file_name = '/home/jiangpin/projects/Multi-Robot-SLAM/Multi-Robot-LIO/src/global_manager/log/FixLagSmoother/fullGraph_opt_before.g2o'
g2o_file_name = '/home/jiangpin/dataset/s3e_12_4/marginal_1610_processed.g2o'
g2o_file_name = "/home/jiangpin/dataset/s3e/keyframeBALM/optimizedGraph.g2o"
g2o_file_name = "/home/jiangpin/dataset/s3e/keyframeBALM/optimizedGraphSimple.g2o"
g2o_file_name = "/home/jiangpin/dataset/s3e/keyframeBALM/localOptimizedGraph.g2o"
# g2o_file_name = "/home/nuc/graph/fullGraph_opt_renamed_opt.g2o"
# g2o_file_name = '/home/jiangpin/graph/0221/graph/fullGraph.g2o'
g2o_tool = G2oTool()
_,_ = g2o_tool.read(g2o_file_name)
g2o_tool.remap_id_gtsam()