├── .gitignore ├── README.md ├── distributed_mapper_core ├── LICENSE ├── _config.yml ├── cpp │ ├── CMakeLists.txt │ ├── DistributedMapperConfig.cmake.in │ ├── scripts │ │ └── runDistributedMapper.cpp │ ├── src │ │ ├── BetweenChordalFactor.h │ │ ├── DistributedMapper.cpp │ │ ├── DistributedMapper.h │ │ ├── DistributedMapperUtils.h │ │ ├── MultiRobotUtils.cpp │ │ └── MultiRobotUtils.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBetweenChordalFactor.cpp │ │ └── testDistributedMapper.cpp ├── data │ ├── blocks_world │ │ ├── 16robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 25robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 2robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ └── fullGraph.g2o │ │ ├── 36robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 25.g2o │ │ │ ├── 26.g2o │ │ │ ├── 27.g2o │ │ │ ├── 28.g2o │ │ │ ├── 29.g2o │ │ │ ├── 3.g2o │ │ │ ├── 30.g2o │ │ │ ├── 31.g2o │ │ │ ├── 32.g2o │ │ │ ├── 33.g2o │ │ │ ├── 34.g2o │ │ │ ├── 35.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 49robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 25.g2o │ │ │ ├── 26.g2o │ │ │ ├── 27.g2o │ │ │ ├── 28.g2o │ │ │ ├── 29.g2o │ │ │ ├── 3.g2o │ │ │ ├── 30.g2o │ │ │ ├── 31.g2o │ │ │ ├── 32.g2o │ │ │ ├── 33.g2o │ │ │ ├── 34.g2o │ │ │ ├── 35.g2o │ │ │ ├── 36.g2o │ │ │ ├── 37.g2o │ │ │ ├── 38.g2o │ │ │ ├── 39.g2o │ │ │ ├── 4.g2o │ │ │ ├── 40.g2o │ │ │ ├── 41.g2o │ │ │ ├── 42.g2o │ │ │ ├── 43.g2o │ │ │ ├── 44.g2o │ │ │ ├── 45.g2o │ │ │ ├── 46.g2o │ │ │ ├── 47.g2o │ │ │ ├── 48.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 4robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ └── fullGraph.g2o │ │ └── 9robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ └── fullGraph.g2o │ ├── example_16robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_25robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_2robots │ │ ├── 0.g2o │ │ └── 1.g2o │ ├── example_36robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_49robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 36.g2o │ │ ├── 37.g2o │ │ ├── 38.g2o │ │ ├── 39.g2o │ │ ├── 4.g2o │ │ ├── 40.g2o │ │ ├── 41.g2o │ │ ├── 42.g2o │ │ ├── 43.g2o │ │ ├── 44.g2o │ │ ├── 45.g2o │ │ ├── 46.g2o │ │ ├── 47.g2o │ │ ├── 48.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_4robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ └── 3.g2o │ └── example_9robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ └── 8.g2o ├── docker │ └── distributed_mapper │ │ ├── Dockerfile │ │ └── README.md ├── imgs │ ├── ARL_logo.png │ ├── irim.jpg │ └── mit_logo.png └── matlab │ └── plotTrace.m └── distributed_mapper_msgs ├── CMakeLists.txt ├── msg ├── FinishedStage.msg ├── Indices.msg ├── InterRobotEstimate.msg ├── Keyframe.msg ├── Keyframes.msg ├── Keypoint.msg ├── LinearizedEstimate.msg ├── Measurement.msg ├── StampedPointCloud.msg └── StartOptimization.msg └── package.xml /.gitignore: -------------------------------------------------------------------------------- 1 | *_optimized.g2o 2 | *.user* 3 | *.swp 4 | results/ 5 | build 6 | .cproject 7 | .project 8 | data/example_2robots/fullGraph.g2o 9 | data/example_4robots/fullGraph.g2o 10 | data/example_9robots/fullGraph.g2o 11 | data/example_16robots/fullGraph.g2o 12 | data/example_25robots/fullGraph.g2o 13 | data/example_36robots/fullGraph.g2o 14 | data/example_49robots/fullGraph.g2o 15 | -------------------------------------------------------------------------------- /distributed_mapper_core/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2016, Georgia Tech Research Corporation 2 | Atlanta, Georgia 30332-0415 3 | All Rights Reserved 4 | 5 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 6 | 7 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 8 | 9 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 10 | 11 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 12 | 13 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 14 | 15 | -------------------------------------------------------------------------------- /distributed_mapper_core/_config.yml: -------------------------------------------------------------------------------- 1 | theme: jekyll-theme-dinky -------------------------------------------------------------------------------- /distributed_mapper_core/cpp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 2 | project(distributed-mapper) 3 | 4 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC") 5 | 6 | ########################################################################### 7 | # Find GTSAM 8 | find_package(GTSAM REQUIRED) 9 | include_directories(${GTSAM_INCLUDE_DIR}) 10 | link_directories(${GTSAM_LIBRARY_DIRS}) 11 | message("GTSAM Libraries: ${GTSAM_LIBRARIES}") 12 | 13 | # for unittest scripts 14 | set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools") 15 | include(GtsamBuildTypes) 16 | include(GtsamTesting) 17 | 18 | ########################################################################### 19 | # Find Boost 20 | find_package(Boost COMPONENTS serialization filesystem system program_options thread REQUIRED) 21 | include_directories(${Boost_INCLUDE_DIRS}) 22 | link_libraries(${Boost_LIBRARIES}) 23 | message("Boost Libraries: ${Boost_LIBRARIES}") 24 | 25 | ########################################################################### 26 | # Distributed Mapper 27 | file(GLOB srcs "src/*.cpp" "src/*.h") 28 | include_directories(src) 29 | add_library (distributed-mapper SHARED ${srcs} ${GTSAM_LIBRARIES}) 30 | add_library (distributed-mapper-static STATIC ${srcs} ${GTSAM_LIBRARIES}) 31 | target_link_libraries(distributed-mapper ${Boost_LIBRARIES} gtsam) 32 | target_link_libraries(distributed-mapper-static ${Boost_LIBRARIES} gtsam) 33 | export(PACKAGE DistributedMapper) 34 | install(TARGETS distributed-mapper DESTINATION lib) 35 | install(TARGETS distributed-mapper-static DESTINATION lib) 36 | 37 | ########################################################################### 38 | # Add executable 39 | add_executable (runDistributedMapper scripts/runDistributedMapper.cpp) 40 | target_link_libraries (runDistributedMapper distributed-mapper ${Boost_LIBRARIES} gtsam) 41 | install(TARGETS runDistributedMapper DESTINATION bin) 42 | 43 | ########################################################################### 44 | # Tests 45 | add_subdirectory(tests) 46 | 47 | ########################################################################### 48 | # Install 49 | file(GLOB headers "src/*.h") 50 | install(FILES ${headers} DESTINATION include/distributed_mapper/) 51 | configure_file (${PROJECT_SOURCE_DIR}/DistributedMapperConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/DistributedMapperConfig.cmake @ONLY) 52 | install(FILES ${CMAKE_CURRENT_BINARY_DIR}/DistributedMapperConfig.cmake DESTINATION share/distributed_mapper) 53 | 54 | 55 | -------------------------------------------------------------------------------- /distributed_mapper_core/cpp/DistributedMapperConfig.cmake.in: -------------------------------------------------------------------------------- 1 | # - Config file for the DistributedMapper package 2 | # It defines the following variables 3 | # DistributedMapper_INCLUDE_DIRS - include directories for DistributedMapper 4 | # DistributedMapper_LIBRARIES - libraries to link against 5 | 6 | # Find and Set the library 7 | FIND_LIBRARY(DistributedMapper_LIBRARY distributed-mapper 8 | PATHS @CMAKE_INSTALL_PREFIX@/lib 9 | NO_DEFAULT_PATH 10 | ) 11 | SET(DistributedMapper_LIBRARIES ${DistributedMapper_LIBRARY}) 12 | 13 | FIND_LIBRARY(DistributedMapperStatic_LIBRARY distributed-mapper-static 14 | PATHS @CMAKE_INSTALL_PREFIX@/lib 15 | NO_DEFAULT_PATH 16 | ) 17 | SET(DistributedMapperStatic_LIBRARIES ${DistributedMapperStatic_LIBRARY}) 18 | 19 | # Find and set the include dirs 20 | SET(DistributedMapper_INCLUDE_DIR "@CMAKE_INSTALL_PREFIX@/include/distributed_mapper") 21 | SET(DistributedMapper_INCLUDE_DIRS ${DistributedMapper_INCLUDE_DIR}) 22 | 23 | -------------------------------------------------------------------------------- /distributed_mapper_core/cpp/tests/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | gtsamAddTestsGlob(base "test*.cpp" "" "distributed-mapper") 2 | 3 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/16robots/0.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 0.0465255 -0.289432 -0.0918674 -0.0304854 -0.0171345 0.00368214 0.999382 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.0690561 2.0284 -0.422693 -0.038086 0.017186 -0.0374174 0.998426 3 | VERTEX_SE3:QUAT 6989586621679009800 2.08334 -0.32548 0.41842 0.0183337 -0.0164408 -0.0702646 0.997224 4 | VERTEX_SE3:QUAT 6989586621679009801 2.4288 1.68621 0.294757 -0.0267166 -0.0369424 -0.0502649 0.997695 5 | VERTEX_SE3:QUAT 6989586621679009856 -0.321062 -0.129869 1.21744 -0.0668755 0.00407856 -0.0416694 0.996882 6 | VERTEX_SE3:QUAT 6989586621679009857 -0.0958199 1.74757 1.05686 -0.0585881 0.0674765 -0.0507536 0.994705 7 | VERTEX_SE3:QUAT 6989586621679009864 1.81039 -0.405031 1.09545 -0.0921707 -0.0536932 -0.0636332 0.992256 8 | VERTEX_SE3:QUAT 6989586621679009865 2.19897 1.60851 0.542157 -0.0647713 -0.121322 -0.156512 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0.0409695 0.088258 0.99414 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6989586621679009865 7061644215716937802 -0.00205183 1.73535 0.340699 0.0470032 0.0398795 0.0453547 0.997067 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6989586621679009865 7277816997830721617 1.70512 -0.254656 -0.314872 -0.0341041 0.0663296 0.0645768 0.995122 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/16robots/12.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7854277750134145072 11.0216 -2.15586 1.67086 0.0625261 -0.0770514 -0.047268 0.993941 2 | VERTEX_SE3:QUAT 7854277750134145073 11.406 -0.453506 1.78174 0.0610819 -0.137702 -0.0412899 0.987726 3 | VERTEX_SE3:QUAT 7854277750134145080 12.8343 -2.59347 1.98377 0.120944 -0.0407806 -0.0695836 0.989377 4 | VERTEX_SE3:QUAT 7854277750134145081 13.026 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EDGE_SE3:QUAT 7854277750134145073 7926335344172073010 0.205552 2.24284 0.0297491 0.0245685 0.0301179 -0.0147254 0.999136 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7854277750134145072 7854277750134145080 2.06451 0.130789 0.0386514 -0.00969388 -0.067032 -0.0118303 0.997634 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7854277750134145073 7854277750134145081 2.11885 -0.302703 -0.0130265 0.0600548 -0.0496379 -0.0719753 0.994359 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7854277750134145080 7854277750134145081 -0.325272 2.00945 0.0638456 -0.0135525 0.00563085 0.000189985 0.999892 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7854277750134145081 7926335344172073018 -0.177011 2.17231 -0.230178 0.0815692 -0.100529 -0.00318984 0.99158 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7854277750134145072 7854277750134145136 0.247367 0.178124 1.86533 -0.00932971 -0.043098 -0.0174637 0.998875 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7566047373982433384 7854277750134145136 1.91058 -0.281092 0.00252259 0.0336165 0.0115629 0.0129304 0.999284 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7854277750134145136 7854277750134145137 0.065025 1.78926 -0.180778 0.0119673 0.00339298 -0.0416334 0.999056 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7854277750134145073 7854277750134145137 -0.060301 0.0573599 1.87636 0.00495356 0.0644781 0.0359399 0.997259 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7566047373982433385 7854277750134145137 1.9695 0.140603 -0.133026 0.0218116 -0.142124 -0.0316372 0.989103 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7854277750134145137 7926335344172073074 0.0823098 2.29928 0.1057 -0.131846 -0.00801149 0.0576235 0.989562 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7854277750134145136 7854277750134145144 2.10328 -0.227804 -0.166682 -0.0163896 0.0242773 -0.018982 0.999391 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7854277750134145080 7854277750134145144 0.0594098 0.0361931 1.76508 -0.0418519 0.0146392 -0.0198555 0.998819 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7854277750134145137 7854277750134145145 1.97273 -0.100931 -0.0537772 0.000498803 -0.0198322 0.0193319 0.999616 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7854277750134145144 7854277750134145145 0.250189 2.26033 -0.0619729 -0.0458863 0.025251 0.0292464 0.998199 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7854277750134145081 7854277750134145145 -0.300244 -0.110745 2.05692 -0.0304558 -0.00893646 -0.0168382 0.999354 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7854277750134145145 7926335344172073082 -0.170969 1.77488 0.22355 -0.022376 0.0185051 0.025787 0.999246 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/16robots/15.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8070450532247928886 10.5468 10.0859 3.12858 0.0303721 -0.149053 0.00473262 0.988351 2 | VERTEX_SE3:QUAT 8070450532247928887 10.8148 12.1147 2.95354 -0.0190855 -0.188705 0.0490104 0.980624 3 | VERTEX_SE3:QUAT 8070450532247928894 13.4983 8.99621 4.20543 0.103261 -0.0476445 -0.0499465 0.992256 4 | VERTEX_SE3:QUAT 8070450532247928895 13.6036 10.8928 4.34882 0.147266 -0.03126 -0.0842463 0.985007 5 | VERTEX_SE3:QUAT 8070450532247928950 12.0193 11.9199 -0.621498 -0.181576 -0.0685692 0.0245817 0.980675 6 | VERTEX_SE3:QUAT 8070450532247928951 11.9592 13.5368 -1.37429 -0.208683 -0.0660141 -0.0904573 0.971551 7 | VERTEX_SE3:QUAT 8070450532247928958 14.2432 11.7386 0.200434 -0.0605158 -0.158424 0.057062 0.983861 8 | VERTEX_SE3:QUAT 8070450532247928959 14.2326 13.609 0.0128831 -0.0229561 -0.155606 0.0885134 0.983578 9 | EDGE_SE3:QUAT 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EDGE_SE3:QUAT 8070450532247928887 8070450532247928895 2.12614 0.074556 0.0121308 -0.0348122 -0.00464246 0.0303687 0.998922 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 8070450532247928894 8070450532247928895 -0.121259 1.79718 -0.102699 0.00137028 0.0154416 -0.0760643 0.996982 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 8070450532247928886 8070450532247928950 -0.149297 0.229546 2.15686 -0.107305 0.0844632 -0.0548497 0.989112 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7998392938210001013 8070450532247928950 0.00333115 1.88717 0.145212 -0.0030418 0.035864 -0.0417169 0.998481 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7782220156096217198 8070450532247928950 2.08478 -0.20996 0.197798 -0.062518 -0.0317349 0.05494 0.996025 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 8070450532247928950 8070450532247928951 -0.0517285 2.20281 0.273287 0.0787499 0.0664661 -0.0757189 0.99179 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 8070450532247928887 8070450532247928951 -0.0155226 -0.128128 1.50408 0.0580593 -0.0293187 -0.00658598 0.997861 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7782220156096217199 8070450532247928951 1.99805 -0.0525785 -0.103526 0.00785014 0.056414 -0.030253 0.997918 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 8070450532247928950 8070450532247928958 1.92938 -0.0758871 0.090876 0.0152652 -0.0288709 -0.0480094 0.998313 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 8070450532247928894 8070450532247928958 0.118424 -0.326032 1.96158 -0.0301692 0.0831351 -0.0282247 0.995682 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7998392938210001021 8070450532247928958 0.313659 2.15818 0.0479709 -0.0511807 -0.00836579 0.0855098 0.994987 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 8070450532247928951 8070450532247928959 1.96363 0.000966217 -0.117514 -0.0157094 -0.11295 0.0199383 0.993276 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 8070450532247928958 8070450532247928959 -0.19647 2.33842 0.369629 0.00467588 0.0205051 -0.0160414 0.99965 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 8070450532247928895 8070450532247928959 0.143093 -0.067614 2.17681 0.0290512 0.0188385 -0.0125279 0.999322 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/16robots/3.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7205759403792793606 -0.997451 12.5514 0.102025 0.0713078 -0.153355 0.0357041 0.984948 2 | VERTEX_SE3:QUAT 7205759403792793607 -1.425 14.502 0.56411 0.132901 -0.156822 0.122985 0.970886 3 | VERTEX_SE3:QUAT 7205759403792793614 3.76092 11.1373 -1.1077 -0.0507328 -0.17262 -0.05445 0.982173 4 | VERTEX_SE3:QUAT 7205759403792793615 3.92134 13.3223 -1.2365 -0.0327403 -0.174669 -0.101829 0.9788 5 | 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-------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 -0.11598 0.160559 -0.21655 -0.0321776 -0.0614398 0.0870439 0.993787 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.107226 2.06235 -0.327368 -0.0244346 -0.0385795 0.0549621 0.997444 3 | VERTEX_SE3:QUAT 6989586621679009802 1.60434 0.626119 -0.215839 0.00174081 -0.0700128 0.0765189 0.994605 4 | VERTEX_SE3:QUAT 6989586621679009803 1.47654 2.74022 -0.267053 0.0379221 -0.0616308 0.12177 0.989917 5 | VERTEX_SE3:QUAT 6989586621679009892 -0.387627 0.129415 1.8146 -0.041592 0.0052385 0.0529868 0.997715 6 | VERTEX_SE3:QUAT 6989586621679009893 -0.530387 2.17551 1.76329 -0.00436853 -0.0411032 0.00995178 0.999096 7 | VERTEX_SE3:QUAT 6989586621679009902 1.26918 0.0770121 1.83952 -0.105592 -0.000723253 0.00862989 0.994372 8 | VERTEX_SE3:QUAT 6989586621679009903 1.14333 2.03462 1.19459 -0.078517 -0.0155043 -0.0100233 0.996742 9 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009793 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6989586621679009892 6989586621679009902 2.07205 0.0173942 -0.23103 0.0280854 -0.0150133 0.0410288 0.99865 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 6989586621679009802 6989586621679009902 -0.0251372 0.128656 2.33186 0.0146162 0.0859391 0.0730403 0.993512 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 6989586621679009902 7349874591868649592 2.03758 -0.180415 -0.155057 0.00471092 0.0220686 0.0288845 0.999328 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 6989586621679009893 6989586621679009903 2.3101 -0.108743 0.142746 -0.0204349 0.0911475 -0.109101 0.989632 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 6989586621679009902 6989586621679009903 -0.106866 1.81946 0.0507473 0.0306725 0.0745294 -0.0108925 0.996687 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 6989586621679009803 6989586621679009903 0.0552897 0.170527 1.83233 0.00777211 0.0160976 0.0531021 0.998429 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6989586621679009903 7061644215716937840 -0.0440451 1.98646 -0.232728 -0.0204372 0.0452563 0.105036 0.993228 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6989586621679009903 7349874591868649593 2.1135 -0.14305 0.0660077 -0.0312971 0.0378483 0.0220826 0.998549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/25robots/20.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8430738502437568592 14.8792 3.38299 1.21669 -0.149942 -0.036876 0.207964 0.965872 2 | VERTEX_SE3:QUAT 8430738502437568593 14.326 5.10974 0.709888 -0.16784 -0.0985399 0.29408 0.935754 3 | VERTEX_SE3:QUAT 8430738502437568602 16.6567 4.21619 1.1566 -0.174983 0.00771885 0.25089 0.952038 4 | VERTEX_SE3:QUAT 8430738502437568603 15.767 5.80125 0.107899 -0.201153 -0.0521966 0.250289 0.945605 5 | VERTEX_SE3:QUAT 8430738502437568692 14.2858 -0.652978 1.0283 -0.129869 0.0762909 -0.139725 0.978668 6 | VERTEX_SE3:QUAT 8430738502437568693 14.7305 0.825762 0.556887 -0.154145 0.0616192 -0.0665005 0.98388 7 | VERTEX_SE3:QUAT 8430738502437568702 16.2453 -1.14534 0.809919 -0.104334 0.0339426 -0.129854 0.985444 8 | VERTEX_SE3:QUAT 8430738502437568703 16.6583 0.723694 0.384323 -0.134689 0.032926 -0.168712 0.975864 9 | EDGE_SE3:QUAT 8070450532247928902 8430738502437568592 1.76203 -0.276855 -0.0492328 0.0652092 -0.0300893 -0.104827 0.991894 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 8430738502437568592 8430738502437568593 -0.00747258 2.16742 -0.0148831 -0.00530275 0.0999352 0.00973849 0.994932 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 8070450532247928903 8430738502437568593 2.0591 0.0727779 0.32436 0.104452 0.0358044 0.0255682 0.993556 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 8430738502437568593 8502796096475496530 0.119437 1.87315 -0.299073 0.0225195 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0.0839486 0.0351006 -0.00540961 0.995837 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 8430738502437568692 8430738502437568693 0.198181 2.04782 -0.210429 0.036083 -0.0196542 0.0378941 0.998437 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 8430738502437568593 8430738502437568693 0.420497 0.398476 2.10377 0.0258529 -0.0465873 -0.0167925 0.998438 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 8070450532247929003 8430738502437568693 2.24469 0.0122908 0.179021 0.0738293 -0.0114663 0.0785762 0.994104 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 8430738502437568693 8502796096475496630 -0.147187 2.09145 -0.182678 0.0138321 0.0482427 0.0696104 0.996311 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 8430738502437568692 8430738502437568702 2.14456 -0.098645 -0.154915 -0.00759425 -0.0291316 0.01498 0.999434 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 8430738502437568602 8430738502437568702 0.0736411 -0.226108 1.99172 0.0131052 -0.0328583 -0.0121999 0.9993 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 8430738502437568693 8430738502437568703 2.31818 -0.00367343 -0.0596139 0.00602413 0.053027 0.0640869 0.996516 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 8430738502437568702 8430738502437568703 -0.244317 2.36481 0.0607225 0.0614191 0.0184178 0.0473385 0.996819 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 8430738502437568603 8430738502437568703 -0.297199 0.220924 1.61009 0.0497027 0.0177964 0.0346785 0.998003 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 8430738502437568703 8502796096475496640 0.151553 1.67621 -0.117814 -0.0201771 -0.011 0.000215856 0.999736 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/25robots/24.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8718968878589280344 5.81994 12.811 -6.12255 -0.334039 -0.0373548 0.471565 0.81526 2 | VERTEX_SE3:QUAT 8718968878589280345 4.35435 13.5666 -7.20483 -0.373076 -0.002629 0.489941 0.787886 3 | VERTEX_SE3:QUAT 8718968878589280354 12.565 15.9421 -6.64105 -0.383242 -0.105544 -0.0519852 0.916124 4 | VERTEX_SE3:QUAT 8718968878589280355 12.9735 17.725 -8.33079 -0.441239 -0.0898941 -0.0668351 0.890371 5 | VERTEX_SE3:QUAT 8718968878589280444 16.4025 13.6923 -3.84488 -0.126861 -0.0153971 0.0589813 0.990046 6 | VERTEX_SE3:QUAT 8718968878589280445 15.9493 15.4108 -4.43147 -0.118428 -0.0470959 -0.0300524 0.99139 7 | VERTEX_SE3:QUAT 8718968878589280454 23.3349 12.5078 -1.34432 -0.0831757 -0.000919797 -0.267971 0.959829 8 | VERTEX_SE3:QUAT 8718968878589280455 24.1132 14.3158 -1.74723 -0.123005 -0.00119316 -0.321613 0.938847 9 | EDGE_SE3:QUAT 8646911284551352407 8718968878589280344 -0.0395181 1.78809 -0.11065 0.0227925 0.0352832 0.0542408 0.997644 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 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0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 8718968878589280354 8718968878589280355 0.179003 1.77478 -0.305949 -0.0413571 -0.0730057 -0.0217893 0.996235 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 8718968878589280344 8718968878589280444 -0.155497 0.00583557 1.94685 0.0022495 0.0168916 -0.0408313 0.999021 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 8646911284551352507 8718968878589280444 0.190012 1.91519 0.117688 -0.015289 -0.0318532 -0.0278446 0.998988 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 8358680908399640754 8718968878589280444 2.17754 -0.0331692 -0.176914 -0.0652629 -0.0444769 0.000604285 0.996876 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 8718968878589280444 8718968878589280445 0.0128863 2.21784 -0.278413 0.0414553 0.00226303 0.0442429 0.998158 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 8718968878589280345 8718968878589280445 -0.105658 -0.39761 2.21251 0.0138504 -0.0121331 -0.0615173 0.997936 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 8358680908399640755 8718968878589280445 2.0377 -0.184325 -0.369734 0.0682041 -0.0447585 0.0119139 0.996596 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 8718968878589280444 8718968878589280454 1.70427 -0.186636 -0.458615 -0.0381762 -0.0882173 -0.0086716 0.995332 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 8718968878589280354 8718968878589280454 0.111322 0.0513804 2.03835 -0.0161463 0.016142 -0.0484632 0.998564 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 8646911284551352517 8718968878589280454 -0.14566 2.12488 -0.0826338 -0.0967584 -0.00961442 -0.0198701 0.995063 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 8718968878589280445 8718968878589280455 1.76178 0.469002 -0.190879 0.015904 0.0511465 0.111245 0.992349 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 8718968878589280454 8718968878589280455 -0.428449 2.18727 0.353522 -0.0514648 -0.00621661 -0.0426623 0.997744 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 8718968878589280355 8718968878589280455 0.371647 0.0878614 2.00174 0.013134 -0.0568148 -0.00686794 0.998275 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/25robots/4.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7277816997830721544 -3.16587 14.4302 -3.74172 -0.243213 0.00195578 0.172623 0.954487 2 | VERTEX_SE3:QUAT 7277816997830721545 -4.00245 16.3919 -4.51535 -0.176053 -0.0471767 0.12998 0.97462 3 | VERTEX_SE3:QUAT 7277816997830721554 -2.52174 16.2088 1.26263 0.0179826 -0.135058 0.010457 0.990619 4 | VERTEX_SE3:QUAT 7277816997830721555 -2.35247 18.1462 1.3491 -0.0883035 -0.176568 0.0183522 0.980148 5 | VERTEX_SE3:QUAT 7277816997830721644 -1.68007 15.6131 4.50495 0.204214 -0.10622 0.142823 0.962609 6 | VERTEX_SE3:QUAT 7277816997830721645 -2.32983 17.3369 5.19392 0.176978 -0.112897 0.108376 0.971693 7 | VERTEX_SE3:QUAT 7277816997830721654 -1.22918 16.4871 0.255137 0.00174936 0.151138 0.189118 0.970252 8 | VERTEX_SE3:QUAT 7277816997830721655 -2.02404 18.4253 0.261876 -0.0291669 0.1563 0.273374 0.948676 9 | EDGE_SE3:QUAT 7205759403792793607 7277816997830721544 -0.130816 2.20384 0.0651997 -0.0227767 -0.0147053 0.074961 0.996818 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7277816997830721544 7277816997830721545 -0.0334198 2.3279 -0.0504471 0.0601402 -0.0791053 0.0132805 0.994962 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7277816997830721544 7277816997830721554 1.42914 -0.114056 0.110991 -0.117478 -0.0249573 -0.0199222 0.992562 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7205759403792793617 7277816997830721554 0.111259 1.70178 -0.0711291 -0.0164405 0.0501723 0.0353152 0.997981 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7277816997830721554 7638104968020361244 1.75846 0.178465 0.00507332 -0.0457518 -0.00748394 -0.0800865 0.995709 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7277816997830721545 7277816997830721555 2.16858 0.150914 0.229281 0.0344445 -0.00423118 -0.0295979 0.998959 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7277816997830721554 7277816997830721555 0.0767047 1.67334 -0.0539207 0.0557625 -0.0132047 0.0106187 0.9983 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7277816997830721555 7638104968020361245 2.18567 0.0889029 -0.00655964 0.047436 0.0203539 0.0266121 0.998312 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7277816997830721544 7277816997830721644 0.189308 -0.182346 2.0766 0.0144899 -0.0324706 -0.0560518 0.997795 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7205759403792793707 7277816997830721644 0.0995467 1.95435 -0.0202994 0.0448637 -0.0020086 0.020597 0.998779 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | 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0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 4899916394579099911 5332261958806667539 2.20221 0.108465 -0.0254292 -0.0331436 -0.0776213 -0.0387536 0.995678 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 5332261958806667538 5332261958806667550 2.29294 -0.0162965 -0.0282997 -0.0542347 -0.0591861 0.0415822 0.995905 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 5332261958806667406 5332261958806667550 0.264002 0.172738 1.80079 0.0313882 0.0347295 -0.0672177 0.99664 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 5260204364768739613 5332261958806667550 0.0841606 1.74399 -0.199416 0.0497004 -0.0282242 0.0113497 0.998301 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 5332261958806667539 5332261958806667551 2.1496 -0.0190224 -0.0486993 -0.054421 -0.0621134 0.00621585 0.996565 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 5332261958806667550 5332261958806667551 -0.273868 2.33203 0.184652 0.0315104 0.00851716 -0.00586522 0.99945 1 0 0 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7349874591868649626 7349874591868649627 -0.178249 2.07071 -0.243665 0.0682958 0.00602355 -0.0459336 0.996589 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7349874591868649483 7349874591868649627 0.0966632 -0.156541 1.88509 0.0140365 0.0871018 0.0259051 0.995764 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7349874591868649626 7349874591868649638 2.37756 -0.359375 0.0265755 0.0288818 -0.0379945 -0.00979938 0.998812 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7349874591868649494 7349874591868649638 -0.196595 0.158159 1.52844 -0.0628894 0.0712851 0.0309679 0.99499 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7277816997830721701 7349874591868649638 -0.0611913 1.79608 -0.428228 -0.00896042 0.101988 0.0670076 0.992486 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7349874591868649638 7782220156096217266 1.95578 -0.251116 0.243511 -0.0136377 -0.00213764 -0.00100586 0.999904 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 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EDGE_SE3:QUAT 6989586621679010003 7493989779944505569 2.02859 0.383805 0.172685 0.0665614 -0.0376322 0.0114507 0.997007 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/49robots/20.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8430738502437568580 12.9343 21.8188 -1.20931 0.0128826 -0.0088927 -0.252561 0.967454 2 | VERTEX_SE3:QUAT 8430738502437568581 13.6068 23.4363 -1.54382 0.0523287 0.00365581 -0.249383 0.966983 3 | VERTEX_SE3:QUAT 8430738502437568594 13.3574 21.0716 -4.90141 -0.0197376 0.00849666 -0.123727 0.992084 4 | VERTEX_SE3:QUAT 8430738502437568595 13.9204 23.1825 -5.01567 -0.0332302 0.0543119 -0.118667 0.990891 5 | VERTEX_SE3:QUAT 8430738502437568776 19.8971 15.9776 11.6594 0.214955 -0.175976 -0.466035 0.840023 6 | VERTEX_SE3:QUAT 8430738502437568777 21.6662 16.92 12.5067 0.18473 -0.140015 -0.388255 0.891924 7 | VERTEX_SE3:QUAT 8430738502437568790 3.08305 17.6733 15.3362 0.394398 -0.229906 0.160224 0.875169 8 | VERTEX_SE3:QUAT 8430738502437568791 2.42661 19.1819 16.9448 0.425358 -0.27685 0.0944479 0.856449 9 | EDGE_SE3:QUAT 8358680908399640643 8430738502437568580 -0.0414467 2.11402 -0.231741 -0.0408532 0.0284267 0.0642889 0.996689 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7926335344172073014 8430738502437568580 1.93619 -0.209133 -0.224284 -0.0265129 -0.045623 0.0555091 0.997063 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 8430738502437568580 8430738502437568581 0.199862 2.01007 -0.118532 0.119499 -0.00515195 0.076719 0.989852 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7926335344172073015 8430738502437568581 2.23825 0.124454 0.262346 -0.0746057 -0.0150929 0.0488259 0.995903 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 8430738502437568580 8430738502437568594 2.13827 -0.171293 -0.325327 0.0614591 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0.00289892 -0.0309469 0.0200577 0.999316 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 8358680908399640839 8430738502437568776 -0.214118 1.96205 -0.175001 -0.0108667 0.074399 0.0042489 0.99716 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7926335344172073210 8430738502437568776 2.39747 -0.151239 0.598963 -0.0349055 0.0192103 0.0301675 0.99875 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 8430738502437568776 8430738502437568777 0.0523466 2.12664 -0.0691372 0.076988 0.0154921 -0.107701 0.991077 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 8430738502437568581 8430738502437568777 0.252467 0.25742 2.30983 -0.0180673 0.0808117 0.0410779 0.995719 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7926335344172073211 8430738502437568777 1.96471 -0.277764 -0.237786 0.0349379 -0.012231 0.00304939 0.99931 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 8430738502437568776 8430738502437568790 2.30244 -0.0697841 -0.0192176 -0.00328719 0.0594802 -0.00452139 0.998214 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 8430738502437568594 8430738502437568790 0.326973 0.351917 1.95171 0.0582658 -0.0203625 -0.0948596 0.993575 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 8358680908399640853 8430738502437568790 -0.0817757 2.11473 -0.0684334 0.0597282 0.0416037 0.0207707 0.997131 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 8430738502437568790 4755801206503244068 1.82725 -0.130372 -0.247082 0.0513655 -0.049214 -0.051244 0.996149 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | EDGE_SE3:QUAT 8430738502437568777 8430738502437568791 2.29241 0.47827 -0.368153 0.0197503 0.055426 -0.022813 0.998007 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 30 | EDGE_SE3:QUAT 8430738502437568790 8430738502437568791 -0.182624 1.72701 -0.0660962 0.0107139 0.0113368 0.0264711 0.999528 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 31 | EDGE_SE3:QUAT 8430738502437568595 8430738502437568791 -0.0725294 -0.231338 1.8104 -0.0116402 0.0189381 0.0595127 0.99798 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 32 | EDGE_SE3:QUAT 8430738502437568791 4755801206503244069 2.06756 0.119203 0.315882 -0.00228158 0.0686707 -0.0685846 0.995276 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 33 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/49robots/42.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 5836665117072162984 22.8598 -5.34993 -1.25926 -0.152095 0.0825621 -0.102776 0.979534 2 | VERTEX_SE3:QUAT 5836665117072162985 23.5627 -3.49686 -1.93576 -0.132725 0.0539555 -0.107178 0.983863 3 | VERTEX_SE3:QUAT 5836665117072162998 24.5828 -5.9473 -1.67229 -0.147112 0.0711077 -0.093329 0.982136 4 | VERTEX_SE3:QUAT 5836665117072162999 24.5539 -4.00601 -2.09133 -0.166958 0.101858 -0.0849984 0.976998 5 | VERTEX_SE3:QUAT 5836665117072163180 20.7257 -3.86312 10.2037 0.3663 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0 1 0 1 13 | EDGE_SE3:QUAT 5836665117072162984 5836665117072162998 1.65404 -0.21167 0.0796001 -0.0012652 -0.0669787 0.0383488 0.997016 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 5836665117072162985 5836665117072162999 2.04379 0.378753 -0.057529 -0.0133555 -0.0149201 0.0401208 0.998994 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 5836665117072162998 5836665117072162999 -0.0680969 2.07249 0.017247 0.0301816 -0.0357204 -0.0281552 0.998509 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 5836665117072162999 5908722711110090936 0.0533875 2.02288 -0.338112 -0.0213143 -0.000214767 -0.00169842 0.999771 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 5836665117072162984 5836665117072163180 0.256457 0.187523 1.47915 0.0547367 0.0159959 -0.0886119 0.994432 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 5332261958806667614 5836665117072163180 2.3333 -0.186471 0.442687 0.0909537 0.0476456 -0.00979966 0.994666 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 5836665117072163180 5836665117072163181 0.0180927 1.82985 0.17803 -0.0190923 0.105737 0.0527864 0.992809 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 5836665117072162985 5836665117072163181 0.0475441 0.0903931 1.97359 -0.0141782 0.00790003 -0.071732 0.997292 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 5332261958806667615 5836665117072163181 1.79411 0.197441 0.422548 -0.0432221 0.0216836 0.0859413 0.995126 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 5836665117072163181 5908722711110091118 -0.00117763 2.49331 -0.181553 -0.015533 0.0896978 0.0355686 0.995212 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 5836665117072163180 5836665117072163194 1.8826 0.148637 -0.184406 0.0100621 0.0253417 -0.011603 0.999561 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 5836665117072162998 5836665117072163194 -0.364072 -0.0113166 1.69132 0.0508743 0.00705208 -0.0370791 0.997992 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 5836665117072163181 5836665117072163195 1.84901 0.0162544 0.0457606 0.0364279 -0.0195758 -0.0144586 0.99904 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 5836665117072163194 5836665117072163195 -0.0205379 1.91577 -0.0132582 -0.0106377 -0.0502443 0.020275 0.998474 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 5836665117072162999 5836665117072163195 0.0341106 0.141522 2.04974 -0.0436581 0.0723079 0.0215624 0.996193 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 5836665117072163195 5908722711110091132 0.372823 1.95588 0.0824003 -0.0241079 0.0389599 0.069214 0.996549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/49robots/48.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6269010681299730612 24.3005 17.1055 -5.05301 -0.101678 0.0282285 0.094397 0.989926 2 | VERTEX_SE3:QUAT 6269010681299730613 24.1214 19.2832 -5.40309 -0.11899 0.0429987 0.0377032 0.991247 3 | VERTEX_SE3:QUAT 6269010681299730626 27.135 16.6243 -3.66802 -0.158088 -0.141919 0.0242302 0.976873 4 | VERTEX_SE3:QUAT 6269010681299730627 26.794 18.5662 -4.73447 -0.170116 -0.168854 0.0206657 0.97063 5 | VERTEX_SE3:QUAT 6269010681299730808 18.1178 10.7849 28.8643 0.480627 -0.0960646 0.0706976 0.868776 6 | VERTEX_SE3:QUAT 6269010681299730809 17.7858 11.8085 30.6592 0.531931 -0.0603873 0.0656745 0.842074 7 | VERTEX_SE3:QUAT 6269010681299730822 24.3081 15.493 26.0165 0.155009 -0.480652 -0.141423 0.851437 8 | VERTEX_SE3:QUAT 6269010681299730823 24.5443 17.3556 27.069 0.0699633 -0.566025 -0.13857 0.809642 9 | EDGE_SE3:QUAT 6196953087261802675 6269010681299730612 0.338325 1.82357 -0.018679 0.0363222 -0.0110639 0.0302248 0.998822 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 5764607523034235046 6269010681299730612 1.90024 0.308772 0.0535557 -0.0935479 0.00929576 0.0127416 0.99549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730613 0.316354 1.78198 -0.168213 -0.0162032 0.0683244 0.0275296 0.997152 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 5764607523034235047 6269010681299730613 2.16358 -0.170319 -0.373194 -0.034138 0.042921 0.0814231 0.99517 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730626 1.99327 -0.263398 -0.337273 -0.0568039 -0.0132918 0.0339433 0.99772 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 6196953087261802689 6269010681299730626 -0.039035 1.97873 0.105621 0.0490859 -0.019203 -0.0850286 0.994983 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 6269010681299730613 6269010681299730627 1.829 -0.161282 0.089042 0.0263598 -0.0638737 0.0391234 0.996842 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 6269010681299730626 6269010681299730627 0.253104 2.373 -0.360306 -0.10332 0.0123959 0.0140822 0.994471 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730808 -0.172981 0.0990585 1.96593 -0.0390275 0.0241063 0.0332552 0.998394 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 6196953087261802871 6269010681299730808 0.0937725 1.95599 0.190994 0.0377636 0.0345717 0.0321588 0.998171 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 5764607523034235242 6269010681299730808 2.02738 -0.176133 -0.0824559 0.0359703 0.00232577 0.0289105 0.998932 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 6269010681299730808 6269010681299730809 0.0244943 2.19507 -0.256851 0.0205491 0.0367576 -0.067432 0.996835 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 6269010681299730613 6269010681299730809 -0.205377 -0.0574449 2.16231 0.0327587 0.0164239 0.00100229 0.999328 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 5764607523034235243 6269010681299730809 1.93293 0.208093 0.255222 0.0378524 -0.0269929 0.0982088 0.994079 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 6269010681299730808 6269010681299730822 1.82408 -0.109285 -0.12828 -0.036772 -0.0219352 0.024097 0.998792 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 6269010681299730626 6269010681299730822 -0.14383 0.38377 1.93755 0.0454684 0.0115712 0.0112476 0.998835 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 6196953087261802885 6269010681299730822 0.157334 1.7882 -0.0307557 0.019788 0.00529531 -0.000255204 0.99979 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 6269010681299730809 6269010681299730823 2.09631 -0.00237151 -0.0751181 -0.0757393 0.0402175 0.0371368 0.995624 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6269010681299730822 6269010681299730823 -0.0747217 2.24973 -0.147788 0.00831604 -0.012819 0.0136668 0.99979 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6269010681299730627 6269010681299730823 0.289844 0.14147 2.02296 0.00624511 0.0122651 0.03244 0.999379 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/49robots/6.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7421932185906577420 -3.20414 23.9022 -6.07072 -0.139841 -0.200143 0.147125 0.95851 2 | VERTEX_SE3:QUAT 7421932185906577421 -3.50682 25.9816 -7.03436 -0.149585 -0.206221 0.0755944 0.964045 3 | VERTEX_SE3:QUAT 7421932185906577434 1.35793 24.1767 0.56503 -0.025825 0.0041606 0.0803509 0.996423 4 | VERTEX_SE3:QUAT 7421932185906577435 0.619949 26.5428 0.693822 0.00555186 0.0486672 0.0747103 0.996002 5 | VERTEX_SE3:QUAT 7421932185906577616 -1.36862 23.406 1.08653 -0.156515 0.0781249 -0.0380252 0.983846 6 | VERTEX_SE3:QUAT 7421932185906577617 -1.17366 25.646 0.378652 -0.108071 0.120559 0.000256408 0.986806 7 | VERTEX_SE3:QUAT 7421932185906577630 0.670427 21.1657 11.1952 0.0611107 0.0974902 0.17958 0.976991 8 | VERTEX_SE3:QUAT 7421932185906577631 -0.174487 23.1796 11.5241 0.178002 0.148234 0.242959 0.941973 9 | EDGE_SE3:QUAT 7349874591868649483 7421932185906577420 -0.126081 2.12142 -0.00283316 -0.0171652 0.0183307 0.0961083 0.995054 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7421932185906577420 7421932185906577421 -0.402014 1.96714 -0.00636608 -0.022653 -0.0586786 0.047073 0.996909 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7421932185906577420 7421932185906577434 1.97282 0.382614 -0.161561 -0.0275459 -0.0161898 -0.0174274 0.999337 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7349874591868649497 7421932185906577434 0.182707 1.91687 -0.194714 -0.0399834 0.0244174 -0.00729653 0.998875 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7421932185906577434 7926335344172073000 2.19119 0.212561 0.0372351 -0.0550953 0.00464158 0.0844004 0.994897 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7421932185906577421 7421932185906577435 1.82055 0.127653 0.167131 -0.000374547 0.0553023 -0.0822283 0.995078 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7421932185906577434 7421932185906577435 -0.309861 1.83131 0.086675 -0.0326478 -0.0691559 0.0140307 0.996973 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7421932185906577435 7926335344172073001 2.21752 -0.176795 -0.0258299 0.0259195 -0.0298858 -0.0539468 0.99776 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7421932185906577420 7421932185906577616 -0.186061 -0.453018 1.69334 0.0231912 -0.0191099 0.059403 0.997782 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7349874591868649679 7421932185906577616 -0.309676 2.07606 -0.240473 -0.0510586 -0.0341617 -0.0467374 0.997016 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7421932185906577616 7421932185906577617 -0.00826774 1.98622 0.00483834 0.0526068 0.0144013 0.055344 0.996977 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7421932185906577421 7421932185906577617 0.341373 0.213937 2.084 0.0660888 0.0170737 -0.0309628 0.997187 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7421932185906577616 7421932185906577630 1.86875 0.400721 0.0725671 -0.0094172 0.0164867 -0.0123418 0.999744 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7421932185906577434 7421932185906577630 -0.140891 -0.164225 1.85937 0.0326436 -0.0302164 -0.0375591 0.998304 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7349874591868649693 7421932185906577630 0.386334 2.012 -0.0561855 0.0368632 0.0582911 -0.0358033 0.996976 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7421932185906577630 7926335344172073196 2.18294 0.415062 0.0939516 -0.0341202 0.00513106 0.0208059 0.999188 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7421932185906577617 7421932185906577631 2.19791 0.245457 0.123818 -0.0166435 -0.0884188 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0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/9robots/2.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7133701809754865668 -0.347452 6.97494 -0.110088 -0.0107895 -0.165518 -0.0292584 0.985714 2 | VERTEX_SE3:QUAT 7133701809754865669 -0.343361 8.94515 -0.273326 -0.0312299 -0.141539 -0.0805832 0.986153 3 | VERTEX_SE3:QUAT 7133701809754865674 -0.064327 7.96784 0.327625 0.00310038 0.0488241 0.260089 0.964345 4 | VERTEX_SE3:QUAT 7133701809754865675 -1.15635 10.1142 0.155736 0.050148 0.0552582 0.275813 0.958311 5 | VERTEX_SE3:QUAT 7133701809754865704 -0.68109 7.5312 2.96848 0.0486506 0.010308 0.172998 0.983666 6 | VERTEX_SE3:QUAT 7133701809754865705 -1.29606 9.79751 3.06595 -0.0866935 -0.0695016 0.140786 0.983785 7 | VERTEX_SE3:QUAT 7133701809754865710 1.40795 8.04544 1.3642 0.051452 -0.112309 -0.0923502 0.988034 8 | VERTEX_SE3:QUAT 7133701809754865711 1.7055 10.0427 1.64264 0.153101 -0.183042 -0.0408246 0.970252 9 | EDGE_SE3:QUAT 7061644215716937731 7133701809754865668 0.154446 1.9783 0.0462666 0.033837 -0.0346461 -0.0481073 0.997667 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7133701809754865668 7133701809754865669 -0.112985 1.91405 0.089846 -0.0141368 -0.0842516 0.0297171 0.995901 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7133701809754865668 7133701809754865674 2.02791 0.330666 0.095568 0.0289362 0.0339943 -0.0546194 0.997509 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7061644215716937737 7133701809754865674 -0.28076 1.7127 -0.228523 0.0443001 -0.0386869 -0.0486973 0.99708 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7133701809754865674 7349874591868649488 1.93957 -0.269459 -0.450651 0.00147605 0.0061647 -0.0116544 0.999912 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7133701809754865669 7133701809754865675 2.13538 -0.17667 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7133701809754865705 0.162224 -0.149669 2.12208 -0.0202711 -0.0429749 0.00675635 0.998848 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7133701809754865704 7133701809754865710 2.32184 -0.185209 0.117668 -0.00590619 0.0467822 0.00972194 0.99884 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7133701809754865674 7133701809754865710 -0.15292 0.0923658 2.13188 0.0213067 0.0784354 -0.0372897 0.995994 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7061644215716937773 7133701809754865710 -0.27803 1.75354 -0.274495 -0.0515015 0.0272547 -0.0368766 0.99762 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7133701809754865710 7349874591868649524 1.69015 0.376736 -0.275789 0.0194181 -0.0122786 -0.00849197 0.9997 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7133701809754865705 7133701809754865711 1.98742 0.0523655 -0.0100583 -0.045664 0.0257664 0.0634994 0.996604 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 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0.0413252 0.120566 0.986413 4 | VERTEX_SE3:QUAT 7205759403792793619 5.32786 3.17884 0.397949 0.0122094 0.041898 0.127424 0.990888 5 | VERTEX_SE3:QUAT 7205759403792793648 4.60848 0.837243 2.20434 -0.0433644 0.0141882 0.12179 0.991507 6 | VERTEX_SE3:QUAT 7205759403792793649 4.15166 2.84557 2.19183 -0.0292147 0.0343577 0.185409 0.981626 7 | VERTEX_SE3:QUAT 7205759403792793654 6.38091 1.34594 1.67285 -0.0811391 0.0648113 0.142065 0.984395 8 | VERTEX_SE3:QUAT 7205759403792793655 5.62019 2.9156 1.50618 -0.0331816 0.108188 0.186858 0.975848 9 | EDGE_SE3:QUAT 6989586621679009798 7205759403792793612 1.89323 0.297511 0.296272 -0.0371044 -0.012027 -0.0174784 0.999086 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7205759403792793612 7205759403792793613 0.521411 1.95321 0.160337 0.079802 0.0099167 0.0074079 0.996734 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 6989586621679009799 7205759403792793613 2.11382 -0.234593 0.123852 -0.024686 -0.00990205 0.0270939 0.999279 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7205759403792793613 7277816997830721550 -0.0578435 2.07879 -0.193006 0.0264956 0.0294338 0.0410107 0.998374 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7205759403792793612 7205759403792793618 2.1467 -0.111441 -0.206371 -0.00591095 0.00960234 0.0933355 0.995571 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7205759403792793618 7421932185906577432 1.66481 -0.379214 0.14144 0.027166 0.0482307 0.0551575 0.996942 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7205759403792793613 7205759403792793619 2.29565 -0.138018 -0.191442 -0.0466793 -0.000621209 0.0517354 0.997569 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7205759403792793618 7205759403792793619 0.213269 2.25217 -0.165558 -0.0736173 0.0577254 0.00394352 0.995607 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7205759403792793619 7277816997830721556 0.10245 1.79727 -0.0338237 -0.00548446 -0.00960805 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0.0652876 -0.01364 0.996977 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7205759403792793649 7277816997830721586 0.198231 2.0375 -0.11364 0.0428025 -0.043965 0.00308395 0.998111 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7205759403792793648 7205759403792793654 1.7479 0.178847 -0.254193 0.0719019 -0.034065 0.00207054 0.996828 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7205759403792793618 7205759403792793654 0.04356 0.230166 1.82354 0.0584741 -0.0461061 0.0193037 0.997037 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7205759403792793654 7421932185906577468 1.90298 0.169699 -0.599902 -0.0575566 0.0319121 0.023884 0.997546 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7205759403792793649 7205759403792793655 1.85079 0.358913 0.0463082 -0.0447889 0.0443542 -0.0109684 0.997951 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | EDGE_SE3:QUAT 7205759403792793654 7205759403792793655 0.155394 1.9595 0.203692 -0.014059 0.0857087 0.018507 0.996049 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 30 | EDGE_SE3:QUAT 7205759403792793619 7205759403792793655 -0.424484 -0.245939 2.04436 0.00328764 -0.038504 -0.00323355 0.999248 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 31 | EDGE_SE3:QUAT 7205759403792793655 7277816997830721592 -0.0945699 2.22644 0.0862017 -0.0188729 0.0204159 0.0643563 0.99754 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 32 | EDGE_SE3:QUAT 7205759403792793655 7421932185906577469 1.92971 0.0777318 0.0294531 -0.0271495 0.0284855 -0.0558638 0.997663 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 33 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/9robots/6.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7421932185906577432 8.01408 1.9868 0.36623 0.066027 -0.00599142 0.15172 0.986198 2 | VERTEX_SE3:QUAT 7421932185906577433 7.40849 3.9473 0.605111 -0.0539826 -0.0979311 0.102375 0.988441 3 | VERTEX_SE3:QUAT 7421932185906577438 9.88869 2.14569 0.192011 0.0567103 -0.0461265 0.174331 0.98197 4 | VERTEX_SE3:QUAT 7421932185906577439 8.88926 3.84935 0.348829 0.047714 0.011961 0.168577 0.98446 5 | VERTEX_SE3:QUAT 7421932185906577468 8.65859 1.95499 1.84736 -0.0562197 -0.04507 0.101239 0.992249 6 | VERTEX_SE3:QUAT 7421932185906577469 8.2747 4.02974 1.55566 -0.0757999 -0.0816222 0.149204 0.982512 7 | VERTEX_SE3:QUAT 7421932185906577474 10.4591 2.39388 1.72363 0.0268002 -0.00492036 0.0711843 0.997091 8 | VERTEX_SE3:QUAT 7421932185906577475 10.2101 4.35369 1.87261 0.0378225 0.0320694 0.00853727 0.998733 9 | EDGE_SE3:QUAT 7205759403792793618 7421932185906577432 1.66481 -0.379214 0.14144 0.027166 0.0482307 0.0551575 0.996942 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7421932185906577432 7421932185906577433 0.136782 1.87261 -0.171017 0.00848024 0.0174827 0.122019 0.992338 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7205759403792793619 7421932185906577433 1.81378 0.0851622 -0.178606 0.00683845 0.0494391 0.0175837 0.998599 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7421932185906577433 7493989779944505370 -0.359851 2.10051 0.0268463 0.00788437 -0.0104232 -0.0827981 0.996481 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7421932185906577432 7421932185906577438 2.08274 0.156796 -0.145846 0.0430553 -0.0262292 -0.0315996 0.998228 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7421932185906577433 7421932185906577439 2.36088 -0.140275 0.0530294 -0.00390956 -0.0550024 0.0233527 0.998205 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7421932185906577438 7421932185906577439 -0.184279 2.36239 -0.0102424 0.00556818 -0.0190285 -0.0129048 0.99972 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7421932185906577439 7493989779944505376 -0.0127784 2.12346 0.0457685 -0.0727087 0.0417791 -0.0648938 0.994362 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7421932185906577432 7421932185906577468 -0.0487193 0.538097 1.88885 0.0234185 -0.00321048 -0.0157986 0.999596 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7205759403792793654 7421932185906577468 1.90298 0.169699 -0.599902 -0.0575566 0.0319121 0.023884 0.997546 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7421932185906577468 7421932185906577469 0.393556 2.19847 0.13365 -0.0144325 -0.00243495 -0.00122462 0.999892 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7421932185906577433 7421932185906577469 -0.252968 -0.417991 2.08663 0.0246382 -0.0712707 -0.080379 0.993908 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7205759403792793655 7421932185906577469 1.92971 0.0777318 0.0294531 -0.0271495 0.0284855 -0.0558638 0.997663 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7421932185906577469 7493989779944505406 -0.261053 1.69564 0.227242 -0.0300966 0.0829159 0.0110845 0.99604 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7421932185906577468 7421932185906577474 2.02079 0.366462 -0.287277 0.0279504 0.0103927 0.0161504 0.999425 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7421932185906577438 7421932185906577474 -0.0224478 0.0893444 1.9017 0.0611068 -0.041299 -0.0285753 0.996867 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7421932185906577469 7421932185906577475 1.7484 -0.0999964 0.00234531 -0.0152513 0.0772759 0.141613 0.986784 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7421932185906577474 7421932185906577475 0.0298226 2.06424 0.0448295 -0.0687085 0.103429 -0.00101204 0.99226 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7421932185906577439 7421932185906577475 -0.149701 -0.121389 2.17311 0.0620622 -0.0905923 0.0632974 0.991935 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7421932185906577475 7493989779944505412 0.477393 1.98807 0.279638 -0.0496644 0.0347671 0.138426 0.988516 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/blocks_world/9robots/8.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7566047373982433308 6.91549 9.66545 -1.18673 -0.119539 -0.185958 0.053946 0.973766 2 | VERTEX_SE3:QUAT 7566047373982433309 6.72646 11.3859 -2.01419 -0.186247 -0.164268 0.0528167 0.967232 3 | VERTEX_SE3:QUAT 7566047373982433314 6.05316 9.06301 1.39576 0.212046 0.0391439 0.317253 0.923501 4 | VERTEX_SE3:QUAT 7566047373982433315 5.0046 10.4627 2.46798 0.282059 0.0996587 0.357999 0.884504 5 | VERTEX_SE3:QUAT 7566047373982433344 6.54615 10.0302 0.941987 0.0644292 -0.131258 0.112485 0.982836 6 | VERTEX_SE3:QUAT 7566047373982433345 5.88186 11.8467 1.28016 0.0515923 -0.126235 0.0967021 0.985927 7 | VERTEX_SE3:QUAT 7566047373982433350 9.86057 10.483 1.97629 0.148409 0.0730376 0.278914 0.945964 8 | VERTEX_SE3:QUAT 7566047373982433351 8.70657 12.0764 3.26167 0.143334 0.0437652 0.279734 0.948308 9 | EDGE_SE3:QUAT 7493989779944505371 7566047373982433308 -0.250231 2.04284 0.311025 -0.041215 0.0163408 0.0583668 0.99731 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7349874591868649494 7566047373982433308 1.87416 0.0931593 -0.080773 -0.00365587 0.0240752 -0.0494989 0.998477 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7566047373982433308 7566047373982433309 -0.0513181 1.76694 0.120827 0.0390934 -0.0414535 0.0113906 0.99831 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7349874591868649495 7566047373982433309 2.13785 0.145338 -0.202192 0.106405 -0.0200501 -0.0170239 0.993975 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7566047373982433308 7566047373982433314 2.02184 -0.0914625 -0.286166 0.0210046 0.0394094 -0.023974 0.998715 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7493989779944505377 7566047373982433314 0.3439 2.32411 0.0396943 -0.0585416 0.098217 0.0942353 0.988962 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7566047373982433309 7566047373982433315 1.9776 0.0657104 -0.307293 0.0295277 0.0666944 0.100045 0.992306 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7566047373982433314 7566047373982433315 0.10917 1.76303 -0.282486 -0.026299 0.0157558 0.000322308 0.99953 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7566047373982433308 7566047373982433344 0.0408569 -0.135452 1.91841 0.013147 0.0323318 -0.0217454 0.999154 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7493989779944505407 7566047373982433344 -0.016698 1.92934 0.156899 0.0285623 -0.0143172 -0.0593829 0.997724 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7349874591868649530 7566047373982433344 2.3768 -0.278724 -0.158113 0.0577212 -0.0590146 0.0307776 0.996112 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7566047373982433344 7566047373982433345 -0.0291665 1.95116 0.0534417 -0.0167398 0.0451161 -0.0137758 0.998746 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7566047373982433309 7566047373982433345 0.264721 0.208306 1.82694 0.0170814 -0.0137997 0.0228747 0.999497 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7349874591868649531 7566047373982433345 1.9752 -0.0110258 -0.22397 0.011392 -0.0440697 0.0364433 0.998299 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7566047373982433344 7566047373982433350 2.0767 0.347069 0.204033 -0.0252025 -0.0706855 0.0568564 0.995558 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7566047373982433314 7566047373982433350 0.022422 -0.188242 1.94154 0.0225444 0.0349293 0.022485 0.998882 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7493989779944505413 7566047373982433350 -0.0454368 2.01677 -0.00652876 -0.0382775 0.0255012 0.0139937 0.998844 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7566047373982433345 7566047373982433351 1.93225 0.316658 -0.0136141 -0.117453 -0.0449038 -0.0259688 0.991723 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7566047373982433350 7566047373982433351 -0.183633 1.84261 0.313211 0.00673146 -0.00699553 0.00110808 0.999952 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7566047373982433315 7566047373982433351 -0.0835206 -0.2592 2.17637 0.0647959 0.0176951 -0.0258003 0.997408 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_16robots/0.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 0.0465255 -0.289432 -0.0918674 -0.0304854 -0.0171345 0.00368214 0.999382 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.0690561 2.0284 -0.422693 -0.038086 0.017186 -0.0374174 0.998426 3 | VERTEX_SE3:QUAT 6989586621679009800 2.08334 -0.32548 0.41842 0.0183337 -0.0164408 -0.0702646 0.997224 4 | VERTEX_SE3:QUAT 6989586621679009801 2.4288 1.68621 0.294757 -0.0267166 -0.0369424 -0.0502649 0.997695 5 | VERTEX_SE3:QUAT 6989586621679009856 -0.321062 -0.129869 1.21744 -0.0668755 0.00407856 -0.0416694 0.996882 6 | VERTEX_SE3:QUAT 6989586621679009857 -0.0958199 1.74757 1.05686 -0.0585881 0.0674765 -0.0507536 0.994705 7 | VERTEX_SE3:QUAT 6989586621679009864 1.81039 -0.405031 1.09545 -0.0921707 -0.0536932 -0.0636332 0.992256 8 | VERTEX_SE3:QUAT 6989586621679009865 2.19897 1.60851 0.542157 -0.0647713 -0.121322 -0.156512 0.978054 9 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009793 0.0312818 2.17096 -0.0700021 0.00438899 -0.0104876 0.0389341 0.999177 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 6989586621679009793 7061644215716937730 0.0463826 1.95402 -0.0267539 -0.00876841 -0.000426121 0.0241111 0.999671 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009800 1.97691 0.0111221 0.257147 -0.0548922 0.125077 0.00848768 0.990591 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 6989586621679009800 7277816997830721552 2.4089 -0.247505 0.372692 0.0403428 -0.0869133 -0.080192 0.992163 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 6989586621679009793 6989586621679009801 2.19301 -0.0205137 -0.0738386 -0.0207471 0.0354413 0.00787209 0.999125 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 6989586621679009800 6989586621679009801 0.180521 1.82501 0.0711637 0.0340861 -0.0538333 -0.0497912 0.996725 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 6989586621679009801 7061644215716937738 -0.2364 2.16125 0.275073 -0.0178753 0.0790198 -0.0315677 0.996213 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 6989586621679009801 7277816997830721553 2.1688 -0.255515 0.194342 -0.00970918 0.0868499 -0.0330618 0.995625 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009856 0.240224 0.0295185 2.00044 -0.046245 0.0785142 -0.0416195 0.99497 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 6989586621679009856 6989586621679009857 0.0289236 1.95546 0.0722927 -0.0270048 -0.000334195 0.0495788 0.998405 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 6989586621679009793 6989586621679009857 -0.0143251 0.0496816 1.86463 -0.0595648 -0.0262421 -0.00389924 0.997872 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 6989586621679009857 7061644215716937794 0.0989563 2.12544 -0.28904 0.0323056 0.0273778 -0.0430778 0.998174 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 6989586621679009856 6989586621679009864 2.07483 0.103684 0.16457 -0.0149983 0.0445014 -0.00300576 0.998892 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 6989586621679009800 6989586621679009864 0.0192791 0.288588 2.1772 -0.0114685 0.0147567 -0.00448449 0.999815 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 6989586621679009864 7277816997830721616 1.72398 -0.069367 0.0153828 0.00220534 0.0078552 0.0242879 0.999672 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 6989586621679009857 6989586621679009865 2.05828 -0.0799999 0.452216 -0.00521217 -0.0111268 -0.0423523 0.999027 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 6989586621679009864 6989586621679009865 0.118014 2.20467 -0.0710525 -0.023777 -0.0429443 0.0287684 0.99838 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 6989586621679009801 6989586621679009865 0.555193 0.025142 2.34238 -0.0470969 0.0409695 0.088258 0.99414 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6989586621679009865 7061644215716937802 -0.00205183 1.73535 0.340699 0.0470032 0.0398795 0.0453547 0.997067 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6989586621679009865 7277816997830721617 1.70512 -0.254656 -0.314872 -0.0341041 0.0663296 0.0645768 0.995122 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_16robots/12.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7854277750134145072 11.0216 -2.15586 1.67086 0.0625261 -0.0770514 -0.047268 0.993941 2 | VERTEX_SE3:QUAT 7854277750134145073 11.406 -0.453506 1.78174 0.0610819 -0.137702 -0.0412899 0.987726 3 | VERTEX_SE3:QUAT 7854277750134145080 12.8343 -2.59347 1.98377 0.120944 -0.0407806 -0.0695836 0.989377 4 | VERTEX_SE3:QUAT 7854277750134145081 13.026 -0.497259 2.3877 0.0381834 -0.0658105 -0.0241039 0.99681 5 | VERTEX_SE3:QUAT 7854277750134145136 11.1736 0.502589 2.85497 -0.155108 -0.104832 0.00907477 0.982278 6 | VERTEX_SE3:QUAT 7854277750134145137 11.1934 2.48619 2.63477 -0.111021 -0.0794659 0.0106153 0.990579 7 | VERTEX_SE3:QUAT 7854277750134145144 13.125 0.715168 3.24976 -0.171076 -0.0923699 -0.0331288 0.980359 8 | VERTEX_SE3:QUAT 7854277750134145145 13.7518 2.5843 2.69703 -0.157452 -0.149373 -0.00499976 0.976151 9 | EDGE_SE3:QUAT 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0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7566047373982433385 7854277750134145137 1.9695 0.140603 -0.133026 0.0218116 -0.142124 -0.0316372 0.989103 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7854277750134145137 7926335344172073074 0.0823098 2.29928 0.1057 -0.131846 -0.00801149 0.0576235 0.989562 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7854277750134145136 7854277750134145144 2.10328 -0.227804 -0.166682 -0.0163896 0.0242773 -0.018982 0.999391 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7854277750134145080 7854277750134145144 0.0594098 0.0361931 1.76508 -0.0418519 0.0146392 -0.0198555 0.998819 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7854277750134145137 7854277750134145145 1.97273 -0.100931 -0.0537772 0.000498803 -0.0198322 0.0193319 0.999616 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7854277750134145144 7854277750134145145 0.250189 2.26033 -0.0619729 -0.0458863 0.025251 0.0292464 0.998199 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7854277750134145081 7854277750134145145 -0.300244 -0.110745 2.05692 -0.0304558 -0.00893646 -0.0168382 0.999354 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7854277750134145145 7926335344172073082 -0.170969 1.77488 0.22355 -0.022376 0.0185051 0.025787 0.999246 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_16robots/15.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8070450532247928886 10.5468 10.0859 3.12858 0.0303721 -0.149053 0.00473262 0.988351 2 | VERTEX_SE3:QUAT 8070450532247928887 10.8148 12.1147 2.95354 -0.0190855 -0.188705 0.0490104 0.980624 3 | VERTEX_SE3:QUAT 8070450532247928894 13.4983 8.99621 4.20543 0.103261 -0.0476445 -0.0499465 0.992256 4 | VERTEX_SE3:QUAT 8070450532247928895 13.6036 10.8928 4.34882 0.147266 -0.03126 -0.0842463 0.985007 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-------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7205759403792793606 -0.997451 12.5514 0.102025 0.0713078 -0.153355 0.0357041 0.984948 2 | VERTEX_SE3:QUAT 7205759403792793607 -1.425 14.502 0.56411 0.132901 -0.156822 0.122985 0.970886 3 | VERTEX_SE3:QUAT 7205759403792793614 3.76092 11.1373 -1.1077 -0.0507328 -0.17262 -0.05445 0.982173 4 | VERTEX_SE3:QUAT 7205759403792793615 3.92134 13.3223 -1.2365 -0.0327403 -0.174669 -0.101829 0.9788 5 | VERTEX_SE3:QUAT 7205759403792793670 2.30526 11.1433 -0.365739 -0.0566964 0.104332 -0.121669 0.985443 6 | VERTEX_SE3:QUAT 7205759403792793671 2.9581 12.744 -0.334185 -0.0445534 0.130932 -0.133328 0.981374 7 | VERTEX_SE3:QUAT 7205759403792793678 5.10922 11.6838 1.03917 -0.098329 -0.0341672 -0.112586 0.988174 8 | VERTEX_SE3:QUAT 7205759403792793679 5.34611 13.4538 0.568655 -0.12571 -0.0534372 -0.157646 0.978003 9 | EDGE_SE3:QUAT 7133701809754865669 7205759403792793606 0.154477 1.47902 -0.0658481 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6989586621679009903 2.3101 -0.108743 0.142746 -0.0204349 0.0911475 -0.109101 0.989632 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 6989586621679009902 6989586621679009903 -0.106866 1.81946 0.0507473 0.0306725 0.0745294 -0.0108925 0.996687 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 6989586621679009803 6989586621679009903 0.0552897 0.170527 1.83233 0.00777211 0.0160976 0.0531021 0.998429 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6989586621679009903 7061644215716937840 -0.0440451 1.98646 -0.232728 -0.0204372 0.0452563 0.105036 0.993228 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6989586621679009903 7349874591868649593 2.1135 -0.14305 0.0660077 -0.0312971 0.0378483 0.0220826 0.998549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_25robots/20.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8430738502437568592 14.8792 3.38299 1.21669 -0.149942 -0.036876 0.207964 0.965872 2 | VERTEX_SE3:QUAT 8430738502437568593 14.326 5.10974 0.709888 -0.16784 -0.0985399 0.29408 0.935754 3 | VERTEX_SE3:QUAT 8430738502437568602 16.6567 4.21619 1.1566 -0.174983 0.00771885 0.25089 0.952038 4 | VERTEX_SE3:QUAT 8430738502437568603 15.767 5.80125 0.107899 -0.201153 -0.0521966 0.250289 0.945605 5 | VERTEX_SE3:QUAT 8430738502437568692 14.2858 -0.652978 1.0283 -0.129869 0.0762909 -0.139725 0.978668 6 | VERTEX_SE3:QUAT 8430738502437568693 14.7305 0.825762 0.556887 -0.154145 0.0616192 -0.0665005 0.98388 7 | VERTEX_SE3:QUAT 8430738502437568702 16.2453 -1.14534 0.809919 -0.104334 0.0339426 -0.129854 0.985444 8 | VERTEX_SE3:QUAT 8430738502437568703 16.6583 0.723694 0.384323 -0.134689 0.032926 -0.168712 0.975864 9 | EDGE_SE3:QUAT 8070450532247928902 8430738502437568592 1.76203 -0.276855 -0.0492328 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-0.0161463 0.016142 -0.0484632 0.998564 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 8646911284551352517 8718968878589280454 -0.14566 2.12488 -0.0826338 -0.0967584 -0.00961442 -0.0198701 0.995063 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 8718968878589280445 8718968878589280455 1.76178 0.469002 -0.190879 0.015904 0.0511465 0.111245 0.992349 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 8718968878589280454 8718968878589280455 -0.428449 2.18727 0.353522 -0.0514648 -0.00621661 -0.0426623 0.997744 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 8718968878589280355 8718968878589280455 0.371647 0.0878614 2.00174 0.013134 -0.0568148 -0.00686794 0.998275 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_25robots/4.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 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| EDGE_SE3:QUAT 7277816997830721555 7638104968020361245 2.18567 0.0889029 -0.00655964 0.047436 0.0203539 0.0266121 0.998312 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7277816997830721544 7277816997830721644 0.189308 -0.182346 2.0766 0.0144899 -0.0324706 -0.0560518 0.997795 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7205759403792793707 7277816997830721644 0.0995467 1.95435 -0.0202994 0.0448637 -0.0020086 0.020597 0.998779 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7277816997830721644 7277816997830721645 -0.303643 2.1279 0.0033416 -0.0168202 0.0304424 -0.00937945 0.999351 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7277816997830721545 7277816997830721645 0.00618279 -0.207641 1.91386 0.00220019 -0.0103705 0.0511435 0.998635 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7277816997830721644 7277816997830721654 1.89569 -0.128082 -0.016686 -0.00852409 0.0268666 -0.0344877 0.999008 1 0 0 0 0 0 1 0 0 0 0 1 0 0 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0.99994 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_2robots/1.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7061644215716937730 0.275488 4.17461 -0.10508 -0.00635348 -0.00172158 0.014039 0.99988 2 | VERTEX_SE3:QUAT 7061644215716937731 0.0370509 6.06986 -0.125812 0.000352917 0.0123101 -0.00643436 0.999903 3 | VERTEX_SE3:QUAT 7061644215716937734 1.98195 4.08813 0.234952 0.00977573 -0.00473737 0.00327227 0.999936 4 | VERTEX_SE3:QUAT 7061644215716937735 1.95534 5.74621 0.0964808 0.000785859 -0.00169661 -0.00259256 0.999995 5 | VERTEX_SE3:QUAT 7061644215716937738 -0.198844 3.68309 2.06217 0.0184514 0.00117375 0.00372582 0.999822 6 | VERTEX_SE3:QUAT 7061644215716937739 -0.259611 6.21434 2.08428 0.00284865 -0.00516554 -0.00844631 0.999947 7 | VERTEX_SE3:QUAT 7061644215716937742 2.06925 4.04898 1.92968 -0.00780062 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/distributed_mapper_core/data/example_36robots/0.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 0.0802879 -0.12939 -0.666555 0.0201171 -0.0319045 0.028506 0.998882 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.0396383 2.07952 -0.682234 0.0449904 -0.0443644 0.0596365 0.996218 3 | VERTEX_SE3:QUAT 6989586621679009804 2.20903 -0.204557 -0.368512 -0.00303555 -0.0146417 0.026912 0.999526 4 | VERTEX_SE3:QUAT 6989586621679009805 2.0368 1.85963 -0.403914 0.0138076 -0.0298013 0.0376126 0.998752 5 | VERTEX_SE3:QUAT 6989586621679009936 -0.0773104 -0.387177 1.40916 0.0490416 -0.0781902 0.0439793 0.99476 6 | VERTEX_SE3:QUAT 6989586621679009937 -0.279258 1.62921 1.53143 0.0658352 -0.0587357 0.106472 0.990394 7 | VERTEX_SE3:QUAT 6989586621679009948 2.04847 -0.291995 1.46475 -0.00881997 -0.0530622 -0.0189992 0.998371 8 | VERTEX_SE3:QUAT 6989586621679009949 1.76181 1.86415 1.31291 -0.0278992 -0.0487988 -0.0466634 0.997328 9 | 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5332261958806667551 2.1496 -0.0190224 -0.0486993 -0.054421 -0.0621134 0.00621585 0.996565 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 5332261958806667550 5332261958806667551 -0.273868 2.33203 0.184652 0.0315104 0.00851716 -0.00586522 0.99945 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 5332261958806667407 5332261958806667551 -0.120452 -0.0398479 2.26658 -0.00381439 0.0659616 -0.0329848 0.99727 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_36robots/5.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7349874591868649482 -4.34516 18.5719 -2.35035 -0.149675 0.0265246 0.131354 0.979612 2 | VERTEX_SE3:QUAT 7349874591868649483 -4.94811 20.5605 -3.04594 -0.160295 0.00204259 0.135238 0.977759 3 | VERTEX_SE3:QUAT 7349874591868649494 1.03794 19.7083 -0.843341 -0.00241582 0.0653648 -0.0719845 0.995259 4 | VERTEX_SE3:QUAT 7349874591868649495 1.25058 21.6255 -1.05664 0.0393076 0.116649 -0.0998134 0.987363 5 | VERTEX_SE3:QUAT 7349874591868649626 -5.73364 19.3256 0.927677 -0.111791 0.0207237 0.225015 0.967699 6 | VERTEX_SE3:QUAT 7349874591868649627 -6.54139 21.0176 0.742129 -0.175082 -0.0211985 0.186046 0.966584 7 | VERTEX_SE3:QUAT 7349874591868649638 6.58321 19.3031 0.165685 -0.0455702 -0.0740911 -0.204897 0.974911 8 | VERTEX_SE3:QUAT 7349874591868649639 7.62791 21.2202 -0.12408 0.0340269 -0.140668 -0.237351 0.960583 9 | EDGE_SE3:QUAT 7277816997830721545 7349874591868649482 0.155522 2.10744 -0.439443 0.0234591 0.0234308 -0.00968188 0.999403 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7349874591868649482 7349874591868649483 0.202381 1.8572 -0.247248 -0.0799852 -0.0384805 0.0363437 0.99539 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7349874591868649482 7349874591868649494 2.09915 0.32158 -0.0455806 0.0443728 -0.00913875 0.0273075 0.9986 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 7277816997830721557 7349874591868649494 0.166125 2.07511 0.143111 -0.0609535 -0.0311346 -0.0238901 0.997369 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 7349874591868649494 7782220156096217122 2.37635 -0.179723 0.260719 -0.0141977 0.00996037 -0.0546719 0.998354 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 7349874591868649483 7349874591868649495 1.71674 0.181774 0.138657 0.0624039 0.00813551 -0.00339344 0.998012 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 7349874591868649494 7349874591868649495 0.370561 1.87258 0.143113 0.045963 0.0916861 0.0878503 0.99084 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 7349874591868649495 7782220156096217123 1.71002 0.079821 -0.113803 -0.0164206 0.0272225 -0.0326474 0.998961 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 7349874591868649482 7349874591868649626 -0.23177 0.318976 2.13666 0.0568556 0.073792 -0.115115 0.988975 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 7277816997830721689 7349874591868649626 0.220865 1.57941 0.0610899 0.0462044 -0.0693716 0.0702714 0.99404 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 7349874591868649626 7349874591868649627 -0.178249 2.07071 -0.243665 0.0682958 0.00602355 -0.0459336 0.996589 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 7349874591868649483 7349874591868649627 0.0966632 -0.156541 1.88509 0.0140365 0.0871018 0.0259051 0.995764 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 7349874591868649626 7349874591868649638 2.37756 -0.359375 0.0265755 0.0288818 -0.0379945 -0.00979938 0.998812 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 7349874591868649494 7349874591868649638 -0.196595 0.158159 1.52844 -0.0628894 0.0712851 0.0309679 0.99499 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 7277816997830721701 7349874591868649638 -0.0611913 1.79608 -0.428228 -0.00896042 0.101988 0.0670076 0.992486 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 7349874591868649638 7782220156096217266 1.95578 -0.251116 0.243511 -0.0136377 -0.00213764 -0.00100586 0.999904 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 7349874591868649627 7349874591868649639 1.90056 -0.273962 -0.0233756 0.0134302 0.018853 0.0243966 0.999434 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 7349874591868649638 7349874591868649639 0.162778 1.91186 -0.370342 0.0416101 0.0390919 -0.0202061 0.998164 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 7349874591868649495 7349874591868649639 0.194157 0.143213 1.57153 0.0113335 0.00600635 0.0375592 0.999212 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 7349874591868649639 7782220156096217267 2.17055 -0.0675552 -0.263783 -0.00356895 -0.0715672 -0.049057 0.996222 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/0.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 -0.381716 -0.0705606 -0.158516 0.0355279 -0.08214 0.00713635 0.995962 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.145459 2.01315 -0.181141 0.0795059 -0.109337 0.0268851 0.990455 3 | VERTEX_SE3:QUAT 6989586621679009806 1.8688 -0.382605 0.1896 0.0140793 -0.0641095 -0.0741466 0.995085 4 | VERTEX_SE3:QUAT 6989586621679009807 2.33504 1.53161 0.469276 0.0371004 -0.043156 0.0161771 0.998248 5 | VERTEX_SE3:QUAT 6989586621679009988 -0.645186 -0.283799 2.12768 0.104613 -0.0745177 -0.0682973 0.989363 6 | VERTEX_SE3:QUAT 6989586621679009989 -0.772893 1.5501 2.28848 0.0248989 -0.107521 -0.00566172 0.993875 7 | VERTEX_SE3:QUAT 6989586621679010002 1.19612 -0.621095 2.40721 0.129389 -0.110129 -0.0755117 0.982562 8 | VERTEX_SE3:QUAT 6989586621679010003 1.81586 1.19009 3.42205 0.164783 -0.0782382 -0.0879411 0.979281 9 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009793 -0.0589905 2.06313 -0.0310238 -0.00671095 -0.009932 0.0208208 0.999711 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 6989586621679009793 7061644215716937730 -0.27803 1.63243 -0.0502067 -0.0125455 -0.0468656 -0.027616 0.998441 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 6989586621679009792 6989586621679009806 1.99905 -0.0749596 0.0429751 -0.00756426 -0.0329149 0.0275184 0.999051 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 6989586621679009806 7493989779944505372 1.86918 0.152882 0.167687 -0.0268342 0.00198699 -0.0534711 0.998207 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 6989586621679009793 6989586621679009807 2.04092 -0.287619 0.416151 -0.0136759 0.0265338 0.0280216 0.999162 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 6989586621679009806 6989586621679009807 0.238576 2.34651 -0.0733389 0.0306268 -0.00237409 0.0204752 0.999318 1 0 0 0 0 0 1 0 0 0 0 1 0 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0.999872 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6989586621679010003 7061644215716937940 0.0491459 2.15232 -0.42329 -0.027712 0.0731832 -0.0298143 0.996488 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6989586621679010003 7493989779944505569 2.02859 0.383805 0.172685 0.0665614 -0.0376322 0.0114507 0.997007 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/20.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 8430738502437568580 12.9343 21.8188 -1.20931 0.0128826 -0.0088927 -0.252561 0.967454 2 | VERTEX_SE3:QUAT 8430738502437568581 13.6068 23.4363 -1.54382 0.0523287 0.00365581 -0.249383 0.966983 3 | VERTEX_SE3:QUAT 8430738502437568594 13.3574 21.0716 -4.90141 -0.0197376 0.00849666 -0.123727 0.992084 4 | VERTEX_SE3:QUAT 8430738502437568595 13.9204 23.1825 -5.01567 -0.0332302 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EDGE_SE3:QUAT 8430738502437568790 8430738502437568791 -0.182624 1.72701 -0.0660962 0.0107139 0.0113368 0.0264711 0.999528 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 31 | EDGE_SE3:QUAT 8430738502437568595 8430738502437568791 -0.0725294 -0.231338 1.8104 -0.0116402 0.0189381 0.0595127 0.99798 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 32 | EDGE_SE3:QUAT 8430738502437568791 4755801206503244069 2.06756 0.119203 0.315882 -0.00228158 0.0686707 -0.0685846 0.995276 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 33 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/35.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 5332261958806667404 19.0171 -4.12005 -1.45599 -0.13112 -0.0211921 -0.131078 0.982434 2 | VERTEX_SE3:QUAT 5332261958806667405 19.6751 -2.05503 -1.54919 -0.120206 -0.001388 -0.109794 0.986658 3 | VERTEX_SE3:QUAT 5332261958806667418 20.762 -4.9237 -1.36579 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0.138627 -0.0503372 0.0134332 0.036408 0.997978 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 5332261958806667601 5404319552844595538 -0.22768 2.04867 -0.0868188 -0.0200083 0.0908666 0.0150803 0.995548 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 5332261958806667600 5332261958806667614 2.27193 0.132917 -0.256812 0.054373 0.0496367 -0.0341421 0.996702 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 5332261958806667418 5332261958806667614 0.0946278 -0.1805 1.7147 0.0110227 -0.029855 0.0343457 0.998903 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 5332261958806667614 5836665117072163180 2.3333 -0.186471 0.442687 0.0909537 0.0476456 -0.00979966 0.994666 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 5332261958806667601 5332261958806667615 2.03326 -0.102494 -0.238023 0.0465842 0.0513447 0.0602991 0.99577 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | EDGE_SE3:QUAT 5332261958806667614 5332261958806667615 0.248675 2.12803 -0.15629 0.0402392 -0.0969972 -0.0407628 0.993635 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 30 | EDGE_SE3:QUAT 5332261958806667419 5332261958806667615 -0.0872833 -0.0348642 1.56059 0.0327288 0.0360532 0.0524418 0.997436 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 31 | EDGE_SE3:QUAT 5332261958806667615 5404319552844595552 -0.0496753 2.32521 -0.186299 0.0566413 -0.0210324 -0.0740686 0.995421 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 32 | EDGE_SE3:QUAT 5332261958806667615 5836665117072163181 1.79411 0.197441 0.422548 -0.0432221 0.0216836 0.0859413 0.995126 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 33 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/42.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 5836665117072162984 22.8598 -5.34993 -1.25926 -0.152095 0.0825621 -0.102776 0.979534 2 | VERTEX_SE3:QUAT 5836665117072162985 23.5627 -3.49686 -1.93576 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EDGE_SE3:QUAT 5332261958806667419 5836665117072162985 2.06581 0.17694 0.00573598 0.0392282 0.033423 0.00768054 0.998642 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 5836665117072162985 5908722711110090922 0.215702 1.86509 -0.184792 -0.0483966 -0.0837989 -0.0151621 0.995191 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 5836665117072162984 5836665117072162998 1.65404 -0.21167 0.0796001 -0.0012652 -0.0669787 0.0383488 0.997016 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 5836665117072162985 5836665117072162999 2.04379 0.378753 -0.057529 -0.0133555 -0.0149201 0.0401208 0.998994 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 5836665117072162998 5836665117072162999 -0.0680969 2.07249 0.017247 0.0301816 -0.0357204 -0.0281552 0.998509 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 5836665117072162999 5908722711110090936 0.0533875 2.02288 -0.338112 -0.0213143 -0.000214767 -0.00169842 0.999771 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 5836665117072162984 5836665117072163180 0.256457 0.187523 1.47915 0.0547367 0.0159959 -0.0886119 0.994432 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 5332261958806667614 5836665117072163180 2.3333 -0.186471 0.442687 0.0909537 0.0476456 -0.00979966 0.994666 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 5836665117072163180 5836665117072163181 0.0180927 1.82985 0.17803 -0.0190923 0.105737 0.0527864 0.992809 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 5836665117072162985 5836665117072163181 0.0475441 0.0903931 1.97359 -0.0141782 0.00790003 -0.071732 0.997292 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 5332261958806667615 5836665117072163181 1.79411 0.197441 0.422548 -0.0432221 0.0216836 0.0859413 0.995126 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 5836665117072163181 5908722711110091118 -0.00117763 2.49331 -0.181553 -0.015533 0.0896978 0.0355686 0.995212 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 5836665117072163180 5836665117072163194 1.8826 0.148637 -0.184406 0.0100621 0.0253417 -0.011603 0.999561 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 5836665117072162998 5836665117072163194 -0.364072 -0.0113166 1.69132 0.0508743 0.00705208 -0.0370791 0.997992 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 5836665117072163181 5836665117072163195 1.84901 0.0162544 0.0457606 0.0364279 -0.0195758 -0.0144586 0.99904 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 5836665117072163194 5836665117072163195 -0.0205379 1.91577 -0.0132582 -0.0106377 -0.0502443 0.020275 0.998474 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 5836665117072162999 5836665117072163195 0.0341106 0.141522 2.04974 -0.0436581 0.0723079 0.0215624 0.996193 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 5836665117072163195 5908722711110091132 0.372823 1.95588 0.0824003 -0.0241079 0.0389599 0.069214 0.996549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/48.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6269010681299730612 24.3005 17.1055 -5.05301 -0.101678 0.0282285 0.094397 0.989926 2 | VERTEX_SE3:QUAT 6269010681299730613 24.1214 19.2832 -5.40309 -0.11899 0.0429987 0.0377032 0.991247 3 | VERTEX_SE3:QUAT 6269010681299730626 27.135 16.6243 -3.66802 -0.158088 -0.141919 0.0242302 0.976873 4 | VERTEX_SE3:QUAT 6269010681299730627 26.794 18.5662 -4.73447 -0.170116 -0.168854 0.0206657 0.97063 5 | VERTEX_SE3:QUAT 6269010681299730808 18.1178 10.7849 28.8643 0.480627 -0.0960646 0.0706976 0.868776 6 | VERTEX_SE3:QUAT 6269010681299730809 17.7858 11.8085 30.6592 0.531931 -0.0603873 0.0656745 0.842074 7 | VERTEX_SE3:QUAT 6269010681299730822 24.3081 15.493 26.0165 0.155009 -0.480652 -0.141423 0.851437 8 | VERTEX_SE3:QUAT 6269010681299730823 24.5443 17.3556 27.069 0.0699633 -0.566025 -0.13857 0.809642 9 | EDGE_SE3:QUAT 6196953087261802675 6269010681299730612 0.338325 1.82357 -0.018679 0.0363222 -0.0110639 0.0302248 0.998822 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 5764607523034235046 6269010681299730612 1.90024 0.308772 0.0535557 -0.0935479 0.00929576 0.0127416 0.99549 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730613 0.316354 1.78198 -0.168213 -0.0162032 0.0683244 0.0275296 0.997152 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 12 | EDGE_SE3:QUAT 5764607523034235047 6269010681299730613 2.16358 -0.170319 -0.373194 -0.034138 0.042921 0.0814231 0.99517 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 13 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730626 1.99327 -0.263398 -0.337273 -0.0568039 -0.0132918 0.0339433 0.99772 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 14 | EDGE_SE3:QUAT 6196953087261802689 6269010681299730626 -0.039035 1.97873 0.105621 0.0490859 -0.019203 -0.0850286 0.994983 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 15 | EDGE_SE3:QUAT 6269010681299730613 6269010681299730627 1.829 -0.161282 0.089042 0.0263598 -0.0638737 0.0391234 0.996842 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 16 | EDGE_SE3:QUAT 6269010681299730626 6269010681299730627 0.253104 2.373 -0.360306 -0.10332 0.0123959 0.0140822 0.994471 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 17 | EDGE_SE3:QUAT 6269010681299730612 6269010681299730808 -0.172981 0.0990585 1.96593 -0.0390275 0.0241063 0.0332552 0.998394 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 18 | EDGE_SE3:QUAT 6196953087261802871 6269010681299730808 0.0937725 1.95599 0.190994 0.0377636 0.0345717 0.0321588 0.998171 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 19 | EDGE_SE3:QUAT 5764607523034235242 6269010681299730808 2.02738 -0.176133 -0.0824559 0.0359703 0.00232577 0.0289105 0.998932 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 20 | EDGE_SE3:QUAT 6269010681299730808 6269010681299730809 0.0244943 2.19507 -0.256851 0.0205491 0.0367576 -0.067432 0.996835 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 21 | EDGE_SE3:QUAT 6269010681299730613 6269010681299730809 -0.205377 -0.0574449 2.16231 0.0327587 0.0164239 0.00100229 0.999328 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 22 | EDGE_SE3:QUAT 5764607523034235243 6269010681299730809 1.93293 0.208093 0.255222 0.0378524 -0.0269929 0.0982088 0.994079 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 23 | EDGE_SE3:QUAT 6269010681299730808 6269010681299730822 1.82408 -0.109285 -0.12828 -0.036772 -0.0219352 0.024097 0.998792 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 24 | EDGE_SE3:QUAT 6269010681299730626 6269010681299730822 -0.14383 0.38377 1.93755 0.0454684 0.0115712 0.0112476 0.998835 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 25 | EDGE_SE3:QUAT 6196953087261802885 6269010681299730822 0.157334 1.7882 -0.0307557 0.019788 0.00529531 -0.000255204 0.99979 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 26 | EDGE_SE3:QUAT 6269010681299730809 6269010681299730823 2.09631 -0.00237151 -0.0751181 -0.0757393 0.0402175 0.0371368 0.995624 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 27 | EDGE_SE3:QUAT 6269010681299730822 6269010681299730823 -0.0747217 2.24973 -0.147788 0.00831604 -0.012819 0.0136668 0.99979 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 28 | EDGE_SE3:QUAT 6269010681299730627 6269010681299730823 0.289844 0.14147 2.02296 0.00624511 0.0122651 0.03244 0.999379 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 29 | -------------------------------------------------------------------------------- /distributed_mapper_core/data/example_49robots/6.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7421932185906577420 -3.20414 23.9022 -6.07072 -0.139841 -0.200143 0.147125 0.95851 2 | VERTEX_SE3:QUAT 7421932185906577421 -3.50682 25.9816 -7.03436 -0.149585 -0.206221 0.0755944 0.964045 3 | VERTEX_SE3:QUAT 7421932185906577434 1.35793 24.1767 0.56503 -0.025825 0.0041606 0.0803509 0.996423 4 | VERTEX_SE3:QUAT 7421932185906577435 0.619949 26.5428 0.693822 0.00555186 0.0486672 0.0747103 0.996002 5 | VERTEX_SE3:QUAT 7421932185906577616 -1.36862 23.406 1.08653 -0.156515 0.0781249 -0.0380252 0.983846 6 | VERTEX_SE3:QUAT 7421932185906577617 -1.17366 25.646 0.378652 -0.108071 0.120559 0.000256408 0.986806 7 | VERTEX_SE3:QUAT 7421932185906577630 0.670427 21.1657 11.1952 0.0611107 0.0974902 0.17958 0.976991 8 | VERTEX_SE3:QUAT 7421932185906577631 -0.174487 23.1796 11.5241 0.178002 0.148234 0.242959 0.941973 9 | EDGE_SE3:QUAT 7349874591868649483 7421932185906577420 -0.126081 2.12142 -0.00283316 -0.0171652 0.0183307 0.0961083 0.995054 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 10 | EDGE_SE3:QUAT 7421932185906577420 7421932185906577421 -0.402014 1.96714 -0.00636608 -0.022653 -0.0586786 0.047073 0.996909 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 11 | EDGE_SE3:QUAT 7421932185906577420 7421932185906577434 1.97282 0.382614 -0.161561 -0.0275459 -0.0161898 -0.0174274 0.999337 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 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/distributed_mapper_core/data/example_9robots/0.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 6989586621679009792 0.24459 -0.04828 0.120502 0.00226694 0.0377957 0.0585067 0.997569 2 | VERTEX_SE3:QUAT 6989586621679009793 -0.0292974 1.59662 -0.0229015 0.0429246 0.00719062 0.100044 0.994031 3 | VERTEX_SE3:QUAT 6989586621679009798 2.39138 0.512381 0.0891538 0.0314132 0.0434656 0.0913745 0.994371 4 | VERTEX_SE3:QUAT 6989586621679009799 2.32549 2.57279 0.233354 0.0536489 0.0215549 0.101544 0.99315 5 | VERTEX_SE3:QUAT 6989586621679009828 0.417077 -0.210917 2.25492 0.0254613 0.0331622 0.0831895 0.995656 6 | VERTEX_SE3:QUAT 6989586621679009829 0.159682 1.69925 2.52018 0.0690937 0.033689 0.14431 0.986542 7 | VERTEX_SE3:QUAT 6989586621679009834 2.43212 0.24476 2.03826 0.0148072 0.0157163 0.0995887 0.994794 8 | VERTEX_SE3:QUAT 6989586621679009835 1.79721 2.08825 1.99925 -0.0350386 -0.010464 0.11126 0.993118 9 | EDGE_SE3:QUAT 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-------------------------------------------------------------------------------- /distributed_mapper_core/data/example_9robots/6.g2o: -------------------------------------------------------------------------------- 1 | VERTEX_SE3:QUAT 7421932185906577432 8.01408 1.9868 0.36623 0.066027 -0.00599142 0.15172 0.986198 2 | VERTEX_SE3:QUAT 7421932185906577433 7.40849 3.9473 0.605111 -0.0539826 -0.0979311 0.102375 0.988441 3 | VERTEX_SE3:QUAT 7421932185906577438 9.88869 2.14569 0.192011 0.0567103 -0.0461265 0.174331 0.98197 4 | VERTEX_SE3:QUAT 7421932185906577439 8.88926 3.84935 0.348829 0.047714 0.011961 0.168577 0.98446 5 | VERTEX_SE3:QUAT 7421932185906577468 8.65859 1.95499 1.84736 -0.0562197 -0.04507 0.101239 0.992249 6 | VERTEX_SE3:QUAT 7421932185906577469 8.2747 4.02974 1.55566 -0.0757999 -0.0816222 0.149204 0.982512 7 | VERTEX_SE3:QUAT 7421932185906577474 10.4591 2.39388 1.72363 0.0268002 -0.00492036 0.0711843 0.997091 8 | VERTEX_SE3:QUAT 7421932185906577475 10.2101 4.35369 1.87261 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-------------------------------------------------------------------------------- 1 | # docker build -t awilby/distributed_mapper . 2 | # docker export distributed_mapper| gzip -c > distributed_mapper.tgz 3 | # docker import distributed_mapper < distributed_mapper.tgz 4 | 5 | ############################################################ 6 | # Dockerfile to build DistributedMapper images 7 | # Based on Ubuntu 8 | ############################################################ 9 | 10 | FROM ubuntu:16.04 11 | MAINTAINER Cognitive Robotics "http://cogrob.org/" 12 | 13 | RUN useradd -ms /bin/bash distmapper -G sudo 14 | 15 | USER root 16 | 17 | RUN apt-get update 18 | 19 | # Install Prerequisites 20 | RUN apt-get install -y \ 21 | build-essential \ 22 | g++ \ 23 | cmake \ 24 | libboost-all-dev 25 | 26 | # Install CLI Tools 27 | RUN apt-get install -y \ 28 | wget \ 29 | curl \ 30 | screen \ 31 | byobu \ 32 | fish \ 33 | git \ 34 | nano \ 35 | glances 36 | 37 | 38 | CMD ["bash"] 39 | 40 | # Build & Install GTSAM 41 | ############################################################ 42 | 43 | WORKDIR /home/distmapper 44 | 45 | RUN git clone https://bitbucket.org/gtborg/gtsam \ 46 | && cd gtsam \ 47 | && git checkout d304358deeaa4625cf24a8e0d94145bb3435d5bc -b dist-mapper 48 | 49 | RUN cd /home/distmapper/gtsam/ \ 50 | && mkdir build \ 51 | && cd build \ 52 | && cmake .. \ 53 | && make -j8 \ 54 | && make install 55 | 56 | 57 | # Build Distributed Mapper 58 | ############################################################ 59 | 60 | WORKDIR /home/distmapper 61 | 62 | RUN git clone https://github.com/CogRob/distributed-mapper.git 63 | 64 | RUN cd /home/distmapper/distributed-mapper/cpp/ \ 65 | && mkdir build \ 66 | && cd build \ 67 | && cmake .. \ 68 | && make -j8 69 | 70 | 71 | # Run Distributed Mapper 72 | ############################################################ 73 | 74 | WORKDIR /home/distmapper/distributed-mapper/cpp/build 75 | 76 | ENTRYPOINT ["./runDistributedMapper"] 77 | -------------------------------------------------------------------------------- /distributed_mapper_core/docker/distributed_mapper/README.md: -------------------------------------------------------------------------------- 1 | # Distributed Mapper Docker README 2 | 3 | This is a docker container for distributed_mapper. 4 | 5 | The latest docker container can be pulled from DockerHub by running: 6 | 7 | ``` 8 | docker pull awilby/distributed_mapper:latest 9 | ``` 10 | 11 | Then, run Distributed Mapper in the docker container by running: 12 | 13 | ``` 14 | docker run distributed_mapper --nrRobots --dataDir 15 | ``` 16 | 17 | For example, to run Distributed Mapper on example data using 4 robots, run: 18 | 19 | ``` 20 | docker run distributed_mapper --nrRobots 4 --dataDir ../../data/example_4robots/ 21 | ``` 22 | -------------------------------------------------------------------------------- /distributed_mapper_core/imgs/ARL_logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CogRob/distributed-mapper/a3bbfa9ea8e73fd09460f8ec008f3e8cc4940506/distributed_mapper_core/imgs/ARL_logo.png -------------------------------------------------------------------------------- /distributed_mapper_core/imgs/irim.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CogRob/distributed-mapper/a3bbfa9ea8e73fd09460f8ec008f3e8cc4940506/distributed_mapper_core/imgs/irim.jpg -------------------------------------------------------------------------------- /distributed_mapper_core/imgs/mit_logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CogRob/distributed-mapper/a3bbfa9ea8e73fd09460f8ec008f3e8cc4940506/distributed_mapper_core/imgs/mit_logo.png -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/FinishedStage.msg: -------------------------------------------------------------------------------- 1 | int32 robotID 2 | char symbolChr1 3 | char symbolChr2 4 | 5 | # Stage id 6 | int32 stage 7 | 8 | # Acknowledgement 9 | int32 ack 10 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/Indices.msg: -------------------------------------------------------------------------------- 1 | uint32[] indices 2 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/InterRobotEstimate.msg: -------------------------------------------------------------------------------- 1 | int32 robotID 2 | char robotName 3 | int32 iterationNum 4 | int32 stage 5 | int32 stop 6 | 7 | int32[] symbolIndices 8 | LinearizedEstimate[] estimates 9 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/Keyframe.msg: -------------------------------------------------------------------------------- 1 | int32 robotID 2 | char symbolChr 3 | int32 symbolIndex 4 | 5 | # Keypoints 6 | Keypoint[] keypoints 7 | 8 | # Descriptors 9 | sensor_msgs/Image desc 10 | 11 | # BoW 12 | uint32[] wordIds 13 | float64[] wordValues 14 | float32 minScore 15 | 16 | # BoW-descriptor map 17 | uint32[] nodeIds 18 | Indices[] indicesVec 19 | 20 | # Map points 21 | uint32 nrMapPoints 22 | uint32[] indices 23 | float32[] worldPoints 24 | float32[] maxDistInvariance 25 | float32[] minDistInvariance 26 | float32[] mfMaxDistance 27 | sensor_msgs/Image pointDesc 28 | 29 | # Pose 30 | float32[] pose 31 | 32 | # Calibration 33 | float32[] K 34 | float32 fx 35 | float32 fy 36 | float32 cx 37 | float32 cy 38 | 39 | #mvlevelsigma2 40 | float32[] mvLevelSigma2 41 | float32[] mvInvLevelSigma2 42 | float32[] mvScaleFactors 43 | 44 | # Misc 45 | float32 mfLogScaleFactor 46 | float32 mfGridElementWidthInv 47 | float32 mfGridElementHeightInv 48 | float32 mnMinX 49 | float32 mnMinY 50 | float32 mnMaxX 51 | float32 mnMaxY 52 | int32 mnScaleLevels 53 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/Keyframes.msg: -------------------------------------------------------------------------------- 1 | Keyframe[] keyframe 2 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/Keypoint.msg: -------------------------------------------------------------------------------- 1 | float32 x 2 | float32 y 3 | float32 angle 4 | float32 response 5 | float32 size 6 | int32 octave 7 | int32 class_id 8 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/LinearizedEstimate.msg: -------------------------------------------------------------------------------- 1 | float32[] estimate 2 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/Measurement.msg: -------------------------------------------------------------------------------- 1 | char symbolChr1 2 | int32 symbolIndex1 3 | char symbolChr2 4 | int32 symbolIndex2 5 | 6 | # Pose of 2 in 1's frame 7 | float32[] relativeRotation 8 | float32[] relativeTranslation 9 | float32 relativeScale 10 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/StampedPointCloud.msg: -------------------------------------------------------------------------------- 1 | # The pose and time stamp of point cloud 2 | geometry_msgs/TransformStamped transform 3 | # The platform source of this point cloud 4 | string platform 5 | # The aggregated point cloud 6 | sensor_msgs/PointCloud2 cloud 7 | 8 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/msg/StartOptimization.msg: -------------------------------------------------------------------------------- 1 | char symbolChr1 2 | char symbolChr2 3 | 4 | # Symbol indices -- just to make sure we are optimizing on the same set of intra-robot edges 5 | int32[] symbolIndices1 6 | int32[] symbolIndices2 7 | 8 | # Acknowledge 9 | int32 ack 10 | 11 | # Prior id (whichever robot has lower prior ID will contain the prior) 12 | int32 priorID 13 | 14 | # Robot id 15 | int32 robotID 16 | -------------------------------------------------------------------------------- /distributed_mapper_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | distributed_mapper_msgs 4 | 0.0.0 5 | The distributed_mapper_msgs package 6 | 7 | 8 | 9 | 10 | itzsid 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | 44 | message_generation 45 | std_msgs 46 | geometry_msgs 47 | sensor_msgs 48 | 49 | 50 | message_generation 51 | std_msgs 52 | geometry_msgs 53 | sensor_msgs 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | --------------------------------------------------------------------------------